CN110058596B - 一种多机器人系统自适应分散协同控制方法及系统 - Google Patents
一种多机器人系统自适应分散协同控制方法及系统 Download PDFInfo
- Publication number
- CN110058596B CN110058596B CN201910425045.6A CN201910425045A CN110058596B CN 110058596 B CN110058596 B CN 110058596B CN 201910425045 A CN201910425045 A CN 201910425045A CN 110058596 B CN110058596 B CN 110058596B
- Authority
- CN
- China
- Prior art keywords
- robot
- robots
- body robot
- indicating
- cooperative control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000003993 interaction Effects 0.000 claims abstract description 55
- 239000000872 buffer Substances 0.000 claims abstract description 42
- 230000002452 interceptive effect Effects 0.000 claims abstract description 13
- 230000003044 adaptive effect Effects 0.000 claims description 32
- 239000000126 substance Substances 0.000 claims description 16
- 238000006116 polymerization reaction Methods 0.000 claims description 8
- 230000006870 function Effects 0.000 claims description 7
- 230000002776 aggregation Effects 0.000 abstract description 8
- 238000004220 aggregation Methods 0.000 abstract description 8
- 230000015572 biosynthetic process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000001846 repelling effect Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910425045.6A CN110058596B (zh) | 2019-05-21 | 2019-05-21 | 一种多机器人系统自适应分散协同控制方法及系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910425045.6A CN110058596B (zh) | 2019-05-21 | 2019-05-21 | 一种多机器人系统自适应分散协同控制方法及系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110058596A CN110058596A (zh) | 2019-07-26 |
CN110058596B true CN110058596B (zh) | 2021-12-10 |
Family
ID=67323944
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910425045.6A Active CN110058596B (zh) | 2019-05-21 | 2019-05-21 | 一种多机器人系统自适应分散协同控制方法及系统 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110058596B (zh) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005096114A1 (en) * | 2004-04-01 | 2005-10-13 | Seoul National University Industry Foundation | Method for avoiding collision of multiple robots by using extended collision map, and storage medium readable by computer recording the method |
CN101901012A (zh) * | 2010-03-19 | 2010-12-01 | 华东交通大学 | 一种分布式的多机器人同步蜂拥控制方法 |
CN103389699A (zh) * | 2013-05-09 | 2013-11-13 | 浙江大学 | 基于分布式智能监测控制节点的机器人监控及自主移动系统的运行方法 |
CN106295793A (zh) * | 2016-08-30 | 2017-01-04 | 吉林大学 | 基于生物觅食行为的群机器人混合搜索方法 |
CN108830373A (zh) * | 2018-06-08 | 2018-11-16 | 武汉大学 | 仿欧椋鸟群集飞行的大规模智能群体自主协同的建模方法 |
CN109407653A (zh) * | 2018-12-18 | 2019-03-01 | 中国人民解放军陆军装甲兵学院 | 一种室内通用多移动机器人算法验证系统 |
CN109597418A (zh) * | 2019-02-27 | 2019-04-09 | 福州大学 | 基于独立虚拟中心点的机器人分散式协同避障方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160357187A1 (en) * | 2015-06-05 | 2016-12-08 | Arafat M.A. ANSARI | Smart vehicle |
-
2019
- 2019-05-21 CN CN201910425045.6A patent/CN110058596B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005096114A1 (en) * | 2004-04-01 | 2005-10-13 | Seoul National University Industry Foundation | Method for avoiding collision of multiple robots by using extended collision map, and storage medium readable by computer recording the method |
CN101901012A (zh) * | 2010-03-19 | 2010-12-01 | 华东交通大学 | 一种分布式的多机器人同步蜂拥控制方法 |
CN103389699A (zh) * | 2013-05-09 | 2013-11-13 | 浙江大学 | 基于分布式智能监测控制节点的机器人监控及自主移动系统的运行方法 |
CN106295793A (zh) * | 2016-08-30 | 2017-01-04 | 吉林大学 | 基于生物觅食行为的群机器人混合搜索方法 |
CN108830373A (zh) * | 2018-06-08 | 2018-11-16 | 武汉大学 | 仿欧椋鸟群集飞行的大规模智能群体自主协同的建模方法 |
CN109407653A (zh) * | 2018-12-18 | 2019-03-01 | 中国人民解放军陆军装甲兵学院 | 一种室内通用多移动机器人算法验证系统 |
CN109597418A (zh) * | 2019-02-27 | 2019-04-09 | 福州大学 | 基于独立虚拟中心点的机器人分散式协同避障方法 |
Non-Patent Citations (2)
Title |
---|
Formation Control of Autonomous Robots to Track a Moving;Anh Duc Dang;《Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics》;20141210;896-901 * |
融合局部自适应追踪的多目标牵制蜂拥算法;王海;《计算机应用》;20141210;第34卷(第12期);3428-3486 * |
Also Published As
Publication number | Publication date |
---|---|
CN110058596A (zh) | 2019-07-26 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
Chen et al. | A deep reinforcement learning based method for real-time path planning and dynamic obstacle avoidance | |
CN110147101A (zh) | 一种基于深度强化学习的端到端分布式多机器人编队导航方法 | |
Karafyllis et al. | Lyapunov-based two-dimensional cruise control of autonomous vehicles on lane-free roads | |
Zhao et al. | Finite-time formation control for multiple flight vehicles with accurate linearization model | |
CN111103881B (zh) | 一种多智能体编队防碰撞控制方法及系统 | |
Serra-Gómez et al. | With whom to communicate: learning efficient communication for multi-robot collision avoidance | |
Thumiger et al. | A multi-agent deep reinforcement learning approach for practical decentralized UAV collision avoidance | |
Li et al. | Obstacle avoidance algorithm for Multi-UAV flocking based on artificial potential field and Dubins path planning | |
CN110058596B (zh) | 一种多机器人系统自适应分散协同控制方法及系统 | |
Andrade et al. | Organization/fuzzy approach to the cto problem | |
Wu et al. | Collision-aware task assignment for multi-robot systems | |
CN111007848B (zh) | 一种基于有界空间的多智能体协同作业控制方法 | |
Wei | A new formation control strategy based on the virtual-leader-follower and artificial potential field | |
Price et al. | GA directed self-organized search and attack UAV swarms | |
Trujillo et al. | Priority task-based formation control and obstacle avoidance of holonomic agents with continuous control inputs | |
Stoller et al. | Neural flocking: MPC-based supervised learning of flocking controllers | |
Shibahara et al. | Polygonal obstacle avoidance method for swarm robots via fluid dynamics | |
Mahdavimoghadam et al. | Improved reinforcement learning in cooperative multi-agent environments using knowledge transfer | |
Li et al. | Decentralized coordination control for a network of mobile robotic sensors | |
Yang et al. | A new approach to circle formation in multi-agent systems | |
Wang et al. | Fast Convergent Flocking Control of Multi-Agent Systems With Switching Communication Topology | |
Makarenko et al. | Human-robot interactions in active sensor networks | |
Agrawal et al. | A novel bio-inspired algorithm for hunting in multi robot scenario | |
Sun et al. | A flocking algorithm of multi-agent systems to optimize the configuration | |
Miyauchi et al. | Multi-operator control of connectivity-preserving robot swarms using supervisory control theory |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20200930 Address after: Room 511, 5th floor, Area A, 2499 Weishan Road, Changchun High-tech Development Zone, Jilin Province, 130000 Applicant after: JILIN University SCIENCE AND TECHNOLOGY PARK DEVELOPMENT CENTER Address before: 130022 No. 5988 Renmin Street, Nanguan District, Jilin, Changchun Applicant before: Jilin University |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210705 Address after: Room 801, 8th floor, building b1-1, Beihu science and Technology Park, 3333 Shengbei street, Gaoxin North District, Changchun City, Jilin Province, 130000 Applicant after: Jilin Jida Incubator Co.,Ltd. Address before: Room 511, 5th floor, Area A, 2499 Weishan Road, Changchun High-tech Development Zone, Jilin Province, 130000 Applicant before: JILIN University SCIENCE AND TECHNOLOGY PARK DEVELOPMENT CENTER |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210825 Address after: 130000 4-3, floor 2, zone a, building D, Lintian maker Park, No. 555, Feiyue East Road, high tech Development Zone, Changchun City, Jilin Province Applicant after: Jilin Jichuang Kebao Technology Co.,Ltd. Address before: Room 801, 8th floor, building b1-1, Beihu science and Technology Park, 3333 Shengbei street, Gaoxin North District, Changchun City, Jilin Province, 130000 Applicant before: Jilin Jida Incubator Co.,Ltd. |
|
GR01 | Patent grant | ||
GR01 | Patent grant |