CN110162035A - A kind of clustered machine people is having the cooperative motion method in barrier scene - Google Patents
A kind of clustered machine people is having the cooperative motion method in barrier scene Download PDFInfo
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Abstract
The present invention relates to the technical fields of robot, are having the cooperative motion method in barrier scene more particularly, to a kind of robot cluster.Method provided by the invention realizes that evolution, dynamic static-obstacle thing is evaded and cooperative motion in the case where there is barrier scene for multirobot.Collaborative Control of the clustered machine people under complex environment is defined as a distributed Model Predictive Control problem by this method, and there are preferable robustness and flexibility in each robot according to the information of local neighbours, independent solving optimization equation.Simultaneously, this method proposes formation figure concept, robot formation is indicated with a digraph, under the premise of guaranteeing the connectivity of graph, the partial transformation of desired formation is realized by changing side and the weight of formation figure, can guarantee the connectivity and flexibility of cluster simultaneously.In addition, the method that the patent proposes has the structure of stratification, using this hierarchical structure, it is possible to reduce the coupling of intermodule is designed and expanded convenient for algorithm.
Description
Technical field
The present invention relates to swarm intelligences, technical field of robot control, are having more particularly, to a kind of clustered machine people
Cooperative motion method in barrier scene.
Background technique
With the continuous development of robot technology, the robot system of automation plays important in more and more fields
Effect, such as industrial robot, domestic robot, service robot etc..Therefore, robot in structured environment from
Dynamic navigation is always a popular research field.Compared with traditional manpower system, robot system has various excellent
Gesture, such as economical, time and safety etc..And compared to single robot system, multi-robot system, which is performed in unison with task, to be had
Bigger advantage and wider application scenarios, such as the exploration in hazardous environment, agricultural in monitoring and extreme condition under
Military mission.Same complex task, multi-robot system can be more more efficient than single robot, complete to lower cost, simultaneously
With better fault-tolerance (one of robot will not influence whole system operation when failing), adaptive and flexibility.
Because multi-robot system has these superiority, and the continuous growth of current generation processor computing capability, move in recent years more
Robot system has attracted the concern of more and more domestic and foreign scholars.
Formation control refer to the team of multiple robots composition during being moved to specific objective or direction, between each other
Scheduled geometric shape (i.e. formation) is kept, while adapting to the control problem of environmental constraints (such as avoiding obstacle) again.Multimachine
Device people's formation control, needs to solve following problems:
(1) how robot determines oneself desired locations in formation；
(2) how robot determines oneself physical location in formation；
(3) how robot moves to maintain formation；
(4) how robot copes with when encountering barrier.
In the prior art, many methods are proposed and solve problem above, have pilotage people-follower's algorithm, virtual architecture method,
Behavior-based control method, Artificial Potential Field Method and the method based on optimization.But in having barrier scene, robot cluster can not be with one
A fixed formation movement, the above method is not exclusively applicable at this time.In the case where there is constraint environment, robot cluster should be according to sensor
The environmental information detected adaptively changes expectation formation, and how to select a new formation and how to realize that formation turns
Changing is a challenging problem, and for the cluster of distributed structure/architecture, problem is then increasingly complex.
Summary of the invention
In order to overcome at least one of the drawbacks of the prior art described above, provide a kind of clustered machine people is having obstacle to the present invention
Cooperative motion method in object field scape proposes local order switching method, and domination set group robot is in having barrier scene
Cooperative motion.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of clustered machine people is having obstacle object field
Cooperative motion method in scape, comprising the following steps:
S1. it before robot cluster setting in motion, needs manually to give critical path point or is planned by planning algorithm
An expected path out, so that the pilotage people of cluster follows, follower is by realizing the association of entire cluster to following for pilotage people
With movement, and desired formation and machine interpersonal relation are expressed with a formation figure；
S2. robot utilize during the motion airborne sensor real-time detection perceive its ambient enviroment barrier and
The status information of non-neighbours robot；
S3. each frame robot issues the position and speed information of oneself by local area network, while obtaining its neighbours' machine
The position and speed information of people, according to the state of neighbours change formation figure in while and while weighted value to implement the machine human world
Mutual collision prevention；
S4. the information obtained step S2 and S3 is as the input of distribution MPC (Model Predictive Control) algorithm, by asking
Optimization problem is solved, control sequence and status switch are obtained, it is optimal as robot current time to choose first control amount
Control amount in input action to robot, drives robot to reach desired target point；
S5. step S2 to S4 is repeated, until reaching home.
Further, in the S1 step, robot cluster is modeled using graph theory, for there is n robot
Cluster, with formation figureCome indicate collection group relation,It is the set on vertex, vertex represents robot, and ε is
The set of directed edge indicates the information flow direction between robot,Indicate the desired distance between robot,Expression machine
The desired relative bearing of device people.
In clustered machine people's cooperative motion task, each robot needs to determine the phase of oneself according to neighbor location
Hope position.According to pilotage people-follower's algorithm, follower can determine it in formation relative to other machines by two methods
The position of device people, first method are range-azimuth controllers, and second is distance-distance controller.For there is n machine
The cluster of people, in the present invention with formation figureCome indicate collection group relation,It is the set on vertex, vertex generation
Table robot, ε are the set of directed edge, indicate the information flow direction between robot,Indicate the expectation between robot
Distance,Indicate the desired relative bearing of robot.The formation figure is a digraph, includes node, side and distance
Three elements, node indicate robot individual, and Bian Daibiao neighborhood, i.e. information flow direction, distance it is expected between representing neighbours
Distance.
Further, in the S3 step side weight variation specifically includes the following steps:
S311. machine is realized by the residual error item of distance and desired distance between the addition robot in model predictive controller
The formation in the device human world is kept, and residual error item indicates are as follows:
Fixed weights omegaijRobot can be enabled to have good distance preservation, but for passing through barrier ring
Flexibility can be lacked when border, so the invention proposes adaptively changing formation weights omegasijThe method of parameter；
S312. for i-th of robot and j-th of robot, its safe distance surplus is defined are as follows:
lij=| | pi-pj||-2r
Wherein piAnd pjI-th of robot and j-th of robot location are respectively indicated, r is the radius of robot, due to hard
ConstraintLimitation, it is ensured that lij>=0, to above formula to time derivation, available i-th of robot and j-th of machine
The range rate of device people are as follows:
Therefore for j-th of robot, the collision time of available itself and i-th of robot are as follows:
δtij=lij/lij
Collision time δ tijDescribe acute, the size and Orientation of collision time that is pressed for time that Liang Ge robot collides
It may be used to determine the collision situation between Liang Ge robot；As δ tijWhen=0, it is meant that lij=0, at this time illustrate two machines
Device people is probably collided, this is the case where we should will avoid the occurrence of；As δ tij> 0, it is meant that lij> 0, this
When illustrate that the distance between Liang Ge robot surplus is becoming larger, Liang Ge robot is separate, δ tijIt is bigger, illustrate two
A robot is faster far from obtaining.As δ tij< 0, it is meant that lij< 0 at this time illustrates that the distance between Liang Ge robot surplus exists
It gradually becomes smaller, Liang Ge robot is close, δ tijAbsolute value it is smaller, illustrate Liang Ge robot close to it is faster.So collision
Time δ tijBeing pressed for time of describing that Liang Ge robot collides is acute；
S313. if i-th of robot and j-th of robot are in formation figureIn be adjacent, and Liang Ge robot
Collision time δ tij< 0 and when smaller absolute value, corresponding weight parameter ωijShould just it increase；It can be to zero
The Gaussian density function of mean value indicates ωijVariation:
Wherein k > 0 is the peak value of Gaussian density function, σ2Indicate the sensitivity to collision time, smaller σ2So that power
Weight parameter ωijVariation it is more sensitive.
Further, in order to maintain the stabilization of formation, the frequency that weight is adjusted is reduced, only when neighbours enter robot
In risk range, adaptive weighting variation is just triggered.
Further, in the S3 step, the method for local evolution specifically includes the following steps:
S321. the distortion factor of the distance of j-th of robot is defined are as follows:
Wherein sij∈SfIt is desired distance of j-th of robot relative to i-th of robot, dijJ-th of robot with
The actual range of i-th of robot；Work as ηijWhen=0, illustrate that the distance of Liang Ge robot is exactly equal to desired distance；Work as ηij> 0
When, illustrate that there is tractive force in i-th of robot to j-th of robot；Work as ηijWhen < 0, illustrate that i-th of robot can be to j-th of machine
Device people has repulsive force；
If there are directed edge (v S322. in formation figurei,vj) and (vk,vj), it is meant that it is required that j-th of robot wants
Desired distance is kept with i-th of robot and k-th of the two robot, robot；Work as ηij< 0 and ηkj> ηthresholdWhen, the
J robot is in the case where being drawn and being ostracised simultaneously, and in this case, j-th of robot needs to delete directed edge
(vk,vj), the requirement for keeping desired distance with k-th of robot is released, the kinematic constraint to j-th of robot is relaxed, so that the
J robot can be easier to find feasible solution in constraint environment；
S323. it sets when j-th of robot observes the non-neighbours robot in sensing range by sensor, such as observes
To u-th of robot and this robot is not the neighbours member of j-th of robot in formation figure, but is calculated by observation
The collision time δ t arriveduj< 0, it means that for j-th of robot, one previously be not its neighbours member machine
People is close to its, and in this case, j-th of robot will be kept at a distance with u-th of robot to avoid colliding,
By directed edge (vu,vj) be added in original formation topology diagram, while correspondingly by desired distance sujIt is added to original
In some desired distance set, to change original clustered machine people flight pattern figure.
Method provided by the invention realizes evolution, dynamic static-obstacle thing in the case where there is barrier scene for multirobot
Evade and cooperative motion.Collaborative Control of the clustered machine people under complex environment is defined as a distributed model by this method
There are preferable robustness and spirit in PREDICTIVE CONTROL problem, each robot according to the information of local neighbours, independent solving optimization equation
Activity.Meanwhile this method proposes formation figure concept, and robot formation is indicated with a digraph, is guaranteeing the connectivity of graph
Under the premise of, the partial transformation of desired formation is realized by changing side and the weight of formation figure, can guarantee cluster simultaneously
Connectivity and flexibility.In addition, the patent propose method have stratification structure: path planning layer, formation decision-making level and
Formation retaining layer, using this hierarchical structure, it is possible to reduce the coupling of intermodule is designed and expanded convenient for algorithm
Compared with prior art, beneficial effect is:
1. expanding single Robot Path Planning Algorithm to multi-robot system；In robot cluster, a neck is defined
Boat person, the planning of pilotage people's execution route and navigation feature, remaining robot (follower) execute formation holding and avoiding obstacles
Function, to realize the path planning and navigation of robot group.Therefore, path planning algorithm and formation control algorithm decouple,
So as to using the various algorithms of single robot path planning；
2. devising the system structure of stratification；In the case where there is constraint environment, robot cluster is needed according to environment self-adaption
Ground changes formation；The coupling of intermodule can be reduced, designs and expands convenient for algorithm；
3. proposing adaptive evolution algorithm；Robot dynamically updates team according to the status information of local neighbours in real time
In shape figure while and while weight, change to realize the partial transformation of robot formation, without involving entire expectation formation
It changes.
Detailed description of the invention
Fig. 1 is holistic approach flow chart of the invention.
Fig. 2 is the schematic diagram of formation figure of the invention.
Fig. 3 is local order switching method flow chart of the invention.
Fig. 4 is the effect picture of local order switching method of the invention.
Specific embodiment
Attached drawing only for illustration, is not considered as limiting the invention；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, is not considered as limiting the invention.
As shown in Figure 1, a kind of cooperative motion method of clustered machine people in complex scene, includes the following steps:
Step 1. needs manually to give critical path point or is advised by planning algorithm before robot cluster setting in motion
An expected path is marked, so that the pilotage people of cluster follows, follower is by realizing entire cluster to following for pilotage people
Cooperative motion.
In clustered machine people's cooperative motion task, each robot needs to determine the phase of oneself according to neighbor location
Hope position.Robot cluster is modeled using the method for graph theory；For there is the cluster of n robot, with formation figureCome indicate collection group relation,It is the set on vertex, vertex represents robot, and ε is the set of directed edge, table
Show the information flow direction between robot,Indicate the desired distance between robot,Indicate the desired phase of robot
Azimuthal, as shown in Figure 2.
Step 2. robot perceives the barrier of its ambient enviroment using record sensor real-time detection during the motion
And the status information of non-neighbours robot；
The each frame robot of step 3. issues the position and speed information of oneself by local area network communication, while obtaining its neighbour
The position and speed information for occupying robot, according to the state of neighbours change formation figure in while and while weight；
Wherein, side weight variation specifically includes the following steps:
S311. machine is realized by the residual error item of distance and desired distance between the addition robot in model predictive controller
The formation in the device human world is kept, and residual error item indicates are as follows:
Fixed weights omegaijRobot can be enabled to have good distance preservation, but for passing through barrier ring
Flexibility can be lacked when border, so the invention proposes adaptively changing formation weights omegasijThe method of parameter；
S312. for i-th of robot and j-th of robot, its safe distance surplus is defined are as follows:
lij=| | pi-pj||-2r
Wherein piAnd pjI-th of robot and j-th of robot location are respectively indicated, r is the radius of robot, due to hard
ConstraintLimitation, it is ensured that lij>=0, to above formula to time derivation, available i-th of robot and j-th of machine
The range rate of device people are as follows:
Therefore for j-th of robot, the collision time of available itself and i-th of robot are as follows:
δtij=lij/lij
Collision time δ tijDescribe acute, the size and Orientation of collision time that is pressed for time that Liang Ge robot collides
It may be used to determine the collision situation between Liang Ge robot；As δ tijWhen=0, it is meant that lij=0, at this time illustrate two machines
Device people is probably collided, this is the case where we should will avoid the occurrence of；As δ tij> 0, it is meant that lij> 0, this
When illustrate that the distance between Liang Ge robot surplus is becoming larger, Liang Ge robot is separate, δ tijIt is bigger, illustrate two
A robot is faster far from obtaining.As δ tij< 0, it is meant that lij< 0 at this time illustrates that the distance between Liang Ge robot surplus exists
It gradually becomes smaller, Liang Ge robot is close, δ tijAbsolute value it is smaller, illustrate Liang Ge robot close to it is faster.So collision
Time δ tijBeing pressed for time of describing that Liang Ge robot collides is acute；
S313. if i-th of robot and j-th of robot are in formation figureIn be adjacent, and Liang Ge robot
Collision time δ tij< 0 and when smaller absolute value, corresponding weight parameter ωijShould just it increase；It can be to zero
The Gaussian density function of mean value indicates ωijVariation:
Wherein k > 0 is the peak value of Gaussian density function, σ2Indicate the sensitivity to collision time, smaller σ2So that power
Weight parameter ωijVariation it is more sensitive.
In order to maintain the stabilization of formation, the frequency that weight is adjusted is reduced, triggering item is set to adaptive weighting transformation
Part --- when neighbours enter in the risk range (risk range > safe range > radius) of robot, just triggering adaptive weighting becomes
Change.
In addition, the method for local evolution specifically includes the following steps:
S321. the distortion factor of the distance of j-th of robot is defined are as follows:
Wherein sij∈SfIt is desired distance of j-th of robot relative to i-th of robot, dijJ-th of robot with
The actual range of i-th of robot；Work as ηijWhen=0, illustrate that the distance of Liang Ge robot is exactly equal to desired distance；Work as ηij> 0
When, illustrate that there is tractive force in i-th of robot to j-th of robot；Work as ηijWhen < 0, illustrate that i-th of robot can be to j-th of machine
Device people has repulsive force；
If there are directed edge (v S322. in formation figurei,vj) and (vk,vj), it is meant that it is required that j-th of robot wants
Desired distance is kept with i-th of robot and k-th of the two robot, robot；Work as ηij< 0 and ηkj> ηthresholdWhen, the
J robot is in the case where being drawn and being ostracised simultaneously, and in this case, j-th of robot needs to delete directed edge
(vk,vj), the requirement for keeping desired distance with k-th of robot is released, the kinematic constraint to j-th of robot is relaxed, so that the
J robot can be easier to find feasible solution in constraint environment；
S323. it sets when j-th of robot observes the non-neighbours robot in sensing range by sensor, such as observes
To u-th of robot and this robot is not the neighbours member of j-th of robot in formation figure, but is calculated by observation
The collision time δ t arriveduj< 0, it means that for j-th of robot, one previously be not its neighbours member machine
People is close to its, and in this case, j-th of robot will be kept at a distance with u-th of robot to avoid colliding,
By directed edge (vu,vj) be added in original formation topology diagram, while correspondingly by desired distance sujIt is added to original
In some desired distance set, to change original clustered machine people flight pattern figure.
The information that step 4. obtains step 2 and step 3 is optimized as the input of distributed MPC algorithm by solving
Problem obtains control sequence and status switch, chooses optimum control amount of first control amount as robot current time, defeated
Enter to be applied in robot, robot is driven to reach desired target point.Overall flow is as shown in figure 3, be embodied effect such as
Shown in Fig. 4.
Step 5. repeats step 2 to step 4, until reaching home.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (5)
1. a kind of clustered machine people is having the cooperative motion method in barrier scene, which comprises the following steps:
S1. it before robot cluster setting in motion, needs manually to give critical path point or cooks up one by planning algorithm
Expected path, so that the pilotage people of cluster follows, follower is by following the collaboration for realizing entire cluster to transport pilotage people
It is dynamic, and desired formation and machine interpersonal relation are expressed with a formation figure；
S2. robot utilizes airborne sensor real-time detection to perceive the barrier of its ambient enviroment and non-neighboring during the motion
Occupy the status information of robot；
S3. each frame robot issues the position and speed information of oneself by local area network, while obtaining its neighbours robot
Position and speed information, according to the state of neighbours change formation figure in while and while weighted value to implement the mutual of the machine human world
Collision prevention；
S4. the information obtained step S2 and S3 is obtained as the input of distributed MPC algorithm by solving optimization problem
Control sequence and status switch, choose optimum control amount of first control amount as robot current time, and input action is arrived
In robot, robot is driven to reach desired target point；
S5. step S2 to S4 is repeated, until reaching home.
2. a kind of clustered machine people according to claim 1 is having the cooperative motion method in barrier scene, feature
It is, in the S1 step, robot cluster is modeled using graph theory, for there is the cluster of n robot, uses formation
FigureCome indicate collection group relation,It is the set on vertex, vertex represents robot, and ε is the set of directed edge,
Indicate the information flow direction between robot,Indicate the desired distance between robot,Indicate the desired of robot
Relative bearing.
3. a kind of clustered machine people according to claim 2 is having the cooperative motion method in barrier scene, feature
Be, in the S3 step side weight variation specifically includes the following steps:
S311. robot is realized by the residual error item of distance and desired distance between the addition robot in model predictive controller
Between formation keep, residual error item indicate are as follows:
S312. for i-th of robot and j-th of robot, its safe distance surplus is defined are as follows:
lij=| | pi-pj||-2r
Wherein piAnd pjI-th of robot and j-th of robot location are respectively indicated, r is the radius of robot, due to hard constraintLimitation, it is ensured that lij>=0, to above formula to time derivation, available i-th of robot and j-th of robot
Range rate are as follows:
Therefore for j-th of robot, the collision time of available itself and i-th of robot are as follows:
Collision time δ tijBeing pressed for time of describing that Liang Ge robot collides is acute, and the size and Orientation of collision time can be with
For determining the collision situation between Liang Ge robot；
S313. if i-th of robot and j-th of robot are in formation figureIn be adjacent, and Liang Ge robot touches
Hit time δ tij< 0 and when smaller absolute value, corresponding weight parameter ωijShould just it increase；It can be to zero-mean
Gaussian density function indicate ωijVariation:
Wherein k > 0 is the peak value of Gaussian density function, σ2Indicate the sensitivity to collision time, smaller σ2So that weight is joined
Number ωijVariation it is more sensitive.
4. a kind of clustered machine people according to claim 3 is having the cooperative motion method in barrier scene, feature
It is, in order to maintain the stabilization of formation, reduces the frequency that weight is adjusted, only in the risk range that neighbours enter robot,
Just triggering adaptive weighting variation.
5. a kind of clustered machine people according to claim 3 is having the cooperative motion method in barrier scene, feature
Be, in the S3 step, the method for local evolution specifically includes the following steps:
S321. the distortion factor of the distance of j-th of robot is defined are as follows:
Wherein sij∈SfIt is desired distance of j-th of robot relative to i-th of robot, dijIt is j-th of robot and i-th
The actual range of robot；Work as ηijWhen=0, illustrate that the distance of Liang Ge robot is exactly equal to desired distance；Work as ηijWhen > 0, say
There is tractive force in bright i-th of robot to j-th of robot；Work as ηijWhen < 0, illustrate that i-th of robot there can be j-th of robot
Repulsive force；
If there are directed edge (v S322. in formation figurei,vj) and (vk,vj), it is meant that it is required that j-th of robot will be with i-th
A robot and k-th of the two robot, robot keep desired distance；Work as ηij< 0 and ηkj> ηthresholdWhen, j-th of machine
Device people is in the case where being drawn and being ostracised simultaneously, and in this case, j-th of robot needs to delete directed edge (vk,
vj), the requirement for keeping desired distance with k-th of robot is released, relaxes the kinematic constraint to j-th of robot, so that j-th
Robot can be easier to find feasible solution in constraint environment；
S323. it sets when j-th of robot observes the non-neighbours robot in sensing range by sensor, such as observes
U robot and this robot are not the neighbours members of j-th of robot in formation figure, but be calculated by observation
Collision time δ tuj< 0, it means that for j-th of robot, one previously be not the robot of its neighbours member just
Close to its, in this case, j-th of robot will be kept at a distance with u-th of robot to avoid colliding, and will be had
To side (vu,vj) be added in original formation topology diagram, while correspondingly by desired distance sujIt is added to original
In desired distance set, to change original clustered machine people flight pattern figure.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN110737263A (en) * | 2019-11-21 | 2020-01-31 | 中科探海(苏州)海洋科技有限责任公司 | multi-robot formation control method based on artificial immunity |
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| CN110908384B (en) * | 2019-12-05 | 2022-09-23 | 中山大学 | Formation navigation method for distributed multi-robot collaborative unknown random maze |
| CN111113417A (en) * | 2019-12-25 | 2020-05-08 | 广东省智能制造研究所 | Distributed multi-robot cooperative motion control method and system |
| CN111830982A (en) * | 2020-07-16 | 2020-10-27 | 陕西理工大学 | Mobile robot formation and obstacle avoidance control method |
| CN111844038A (en) * | 2020-07-23 | 2020-10-30 | 炬星科技（深圳）有限公司 | Robot motion information identification method, obstacle avoidance robot and obstacle avoidance system |
| CN111844038B (en) * | 2020-07-23 | 2022-01-07 | 炬星科技（深圳）有限公司 | Robot motion information identification method, obstacle avoidance robot and obstacle avoidance system |
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| CN112965482A (en) * | 2021-02-01 | 2021-06-15 | 广东省科学院智能制造研究所 | Multi-robot motion collision avoidance control method and system |
| CN113110429A (en) * | 2021-04-02 | 2021-07-13 | 北京理工大学 | Minimum lasting formation generation and control method of multi-robot system under visual field constraint |
| CN113110429B (en) * | 2021-04-02 | 2022-07-05 | 北京理工大学 | Minimum lasting formation generation and control method of multi-robot system under visual field constraint |
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