CN110398975A - A kind of navigator's follower type multiple aircraft formation fault tolerant control method based on broadcast operation framework - Google Patents
A kind of navigator's follower type multiple aircraft formation fault tolerant control method based on broadcast operation framework Download PDFInfo
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- CN110398975A CN110398975A CN201910833832.4A CN201910833832A CN110398975A CN 110398975 A CN110398975 A CN 110398975A CN 201910833832 A CN201910833832 A CN 201910833832A CN 110398975 A CN110398975 A CN 110398975A
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- 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
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
Abstract
The present invention proposes a kind of navigator's follower type multiple aircraft formation fault tolerant control method based on broadcast operation framework.This method uses the broadcast type multi-computer communication based on fixed channel, solves the problems, such as under traditional point-to-point communication mode in multiple aircraft formation formation communication disruption after pilot robot failure, and based on the communication construction of this broadcast type, pilot robot is proposed apart from optimal substitute fault tolerant control method, solve the problems, such as that the collisionless for following robot compete substitute more under pilot robot communication failure under traditional point-to-point communication mode, so that navigator's follower type, which forms into columns to form into columns under the conditions of pilot robot communication failure, remains to new pilot robot of making decisions on one's own out, to keep approximate flight pattern to execute expected job task.The communication means has the characteristics that easy deployment, scalability are good, has fault tolerant mechanism, and the formation suitable for multiple mobile robot cooperates, and also supports the multi-computer communication of other unmanned systems.
Description
Technical field
The present invention relates to multi-robot formation faults-tolerant control field, specially a kind of navigator based on broadcast operation framework
Follower type multiple aircraft formation fault tolerant control method.
Background technique
Multi-robot formation refer to each robot by it is mutually coordinated finally on the basis of keeping geometry in particular it is complete
At preplanned mission, the communication between each robot among these is then the basis of multimachine.Multiple aircraft formation have wide coverage,
The advantages that Upon Cooperative Efficiency is high, ruining property of damage-retardation is strong tails scouting, Incorporated Rescue and anti-terrorism, multimachine cooperation carrying etc. in unmanned aerial vehicle group
It is used widely in field.Wherein the formation of navigator's follower type has many advantages, such as that control is simple, stability is high, favorable expandability, is compiling
It is most widely used in team's control method.
Navigator's follower type multiple aircraft formation is to set in the multirobot group for executing formation task according to flight pattern,
It follows robot to be spaced the position and direction for automatically following pilotage people in real time at a certain distance, pre- delimit the organizational structure finally is collectively formed
Team's formation.Wherein, pilot robot is responsible for path planning, environment detection, and itself pose is sent to respectively with random device in real time
People is the core of entire multiple aircraft formation system.
With the diversification of multiple aircraft formation application field, the complication of application scenarios, especially in the battlefield ring fought by force
It under border, forms into columns during execution task, some individuals failure is inevitable.Especially when pilot robot generates communication event
When barrier, pilot robot and the communication between robot is respectively followed to interrupt immediately, will be unable to continue to send position to other robot
It sets and environmental information, leads to that robot is followed to lose leader, make to form into columns in inorganization, causing to form into columns, disintegrate can not be after
Continuous execution task.
In terms of multiple aircraft formation system control method, the existing track following primarily focused under ecotopia of studying is asked
Topic, and primarily focus on the motion control arithmetic research of mobile robot.And with the multiple aircraft formation faults-tolerant control under Antagonistic Environment
It is relatively fewer for the research of point of penetration.In addition, in the research of existing multiple aircraft formation faults-tolerant control, also primarily directed to ideal situation
Under pilot robot select problem, and seldom study under pilot robot failure condition and to follow the collisionless of robot to compete more
Substitute problem.
In terms of multiple aircraft formation system communication mode, the most common communication is then communicated for point-to-point type at present, point-to-point type
Most representational communication network is then WLAN in communication.Under the conditions of WLAN is primarily directed to certainty
Robot networking and interaction, can not consider the pilot robot communication failure problem in practical application, thus herein as
Point of penetration establishes the broadcast operation framework based on fixed communication frequency range.
In practical problem, pilot robot communication failure will cause pilot robot and follow the communication between robot
It interrupts, makes to form into columns in inorganization, lead to entire fleet system disorder and job task can not be continued to execute.Therefore, originally
Invention proposes a kind of suitable for pathfinder on this basis using broadcast operation framework as communication mode between multirobot
The optimal substitute fault tolerant control method of the distance of device people's communication failure.
Summary of the invention
When the work of navigator's follower type multiple aircraft formation system is in complicated unknown Antagonistic Environment, individual robot failure exists
Institute is inevitably.The present invention is directed to the case where pilot robot communication failure, based on broadcast operation framework in terms of network full-mesh
Advantage, this distributed broadcast operation framework is introduced into navigator's follower type multiple aircraft formation control problem, proposes one
Navigator follower type multiple aircraft formation fault tolerant control method of the kind based on broadcast operation framework.It aims to solve the problem that because of pilot robot failure
Or the damage entire multiple aircraft formation Problem of Failure of bring.It is simultaneously multiple mobile robot from main forming, formation are kept, formation becomes
It changes, the task execution after target following and fleet system failure provides effective, the expansible formation with fault tolerance of one kind and leads to
Letter method is supported.
Based on the above principles, the technical solution of the present invention is as follows:
A kind of navigator's follower type multiple aircraft formation fault tolerant control method based on broadcast operation framework, feature exist
In: the following steps are included:
Step 1: navigator's follower type Mobile Robot Formation is established, distribution navigates, follows two kinds of mobile robot roles, and
Flight pattern pattern is preset according to formation task and mobile robot quantity, the flight pattern pattern includes current robot
The flight pattern pattern of quantity and flight pattern pattern less than current robot quantity；Building is based on broadcast operation frame simultaneously
Multiple mobile robot's communication network of structure；
Step 2: navigator's follower type multiple aircraft formation forming and holding:
Step 2.1: obtaining each robot real-time pose information, using broadcast operation framework, pilot robot is by pose
Information is sent to follows robot in real time；
Step 2.2: robot being followed to be calculated according to the real time position of preset flight pattern combination of patterns pilot robot
The ideal pose of itself, and respective pose is calculated according to the real-time pose of itself and ideal pose followed by robot
Tracking error；
Step 2.3: following robot to be controlled according to posture tracking error, posture tracking error is made to level off to 0, realize
Entire multiple aircraft formation system forms and keeps set flight pattern come the task of fulfiling assignment；
Step 3: the optimal substitute faults-tolerant control of distance under the conditions of pilot robot communication failure:
Step 3.1: after pilot robot detects self communication failure, immediately exiting from formation task and stop at and work as
Front position；The N number of duty cycle for following robot continuously to set does not receive the posture information of pilot robot transmission, then determines
For pilot robot communication failure；
Step 3.2: respectively following robot to calculate corresponding distance function, wherein following robot F for i-thiAway from
From function Si:
Si=di+Li
Wherein diIndicate that this follows robot away from the distance between failure pilot robot, LiTo follow under new flight pattern
Robot FiAs the cost function of evolution under the conditions of new pilot robot, the cost function LiTo follow robot Fi
When as new pilot robot, each robot is moved to the minimum value of the moving distance sum of corresponding position in formation after transformation；
Step 3.3: it is each follow robot that itself distance function value has been calculated after, successively switch communication party according to ID sequence
Formula is sending mode, and the distance function value under self ID and the position is sent in communication channel, is converted to reception mould immediately
Formula, receives ID and corresponding distance function value that other follow robot, follows robot information transmit-receive to finish until all；
Step 3.4: respectively follow robot to compare itself distance function value and other each robot distance function values,
If there is the other robot smaller than itself distance function value, then itself continue to serve as to follow robot；If itself distance
Functional value is minimum, then this follows robot as new pilot robot；Then return step 2 re-start navigator's follower type
Multiple aircraft formation forming and holding.
Further preferred embodiment, a kind of fault-tolerant control of navigator's follower type multiple aircraft formation based on broadcast operation framework
Method processed, it is characterised in that: in multiple mobile robot's communication network, each robot default communication mode is simplex communication, wherein
Pilot robot is sending mode, follows the artificial reception pattern of machine.
Further preferred embodiment, a kind of fault-tolerant control of navigator's follower type multiple aircraft formation based on broadcast operation framework
Method processed, it is characterised in that: in step 2.1, each robot real-time pose is obtained by the Global localization system of outside setting and is believed
Breath.
Further preferred embodiment, a kind of fault-tolerant control of navigator's follower type multiple aircraft formation based on broadcast operation framework
Method processed, it is characterised in that: using PID control or synovial membrane control methods to following robot to control in step 2.3.
Further preferred embodiment, a kind of fault-tolerant control of navigator's follower type multiple aircraft formation based on broadcast operation framework
Method processed, it is characterised in that: in step 3.2, follow robot away from the distance between failure pilot robot diAccording to random
Device people FiThe position coordinates sent before current position coordinates and pilot robot communication failure calculate.
Further preferred embodiment, a kind of fault-tolerant control of navigator's follower type multiple aircraft formation based on broadcast operation framework
Method processed, it is characterised in that: in step 3.2, the calculating process of cost function are as follows:
If function l (Fi,Bj) it is robot FiAway from vacant locations B to be filled up in formation after transformationjDistance, according to residue
Robot number n and rest position to be filled up of newly forming into columns can obtain n × n rank matrix:
Define cost function L are as follows:
Wherein when following robot FiCapture B in new form into columnsjX when positionij=1, otherwise xij=0.
Further preferred embodiment, a kind of fault-tolerant control of navigator's follower type multiple aircraft formation based on broadcast operation framework
Method processed, it is characterised in that: in step 3.4, each robot is moved to during the corresponding position in new form into columns, according to failure
The position of robot, using the pose control method for movement for having avoidance obstacle.
Beneficial effect
The beneficial effects of the present invention are the broadcast type multi-computer communication methods based on fixed channel of use, solve conventional point
Formation communication disruption problem after pilot robot fails in multiple aircraft formation under point to-point communication mode, and with the communication frame of this broadcast type
Based on structure, pilot robot is proposed apart from optimal substitute fault tolerant control method, is solved under traditional point-to-point communication mode
The collisionless for following robot compete substitute problem more under pilot robot communication failure, so that the formation of navigator's follower type is being navigated
It forms into columns under robot communication failure condition and remains to new pilot robot of making decisions on one's own out, so that approximate flight pattern be kept to execute
Expected job task.The communication means has the characteristics that easy deployment, scalability are good, has fault tolerant mechanism at the same time,
It is applicable to the formation cooperation of multiple mobile robot, while also supporting the multi-computer communication of other unmanned systems, is unmanned plane, sky
The multi-computer communication problem of ground collaboration etc. provides technical support.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the multirobot cordless communication network architecture diagram based on broadcast operation.Wherein: 1-1 is wireless receiving and dispatching mould
Block, 1-2 are mobile robot processor, and 1-3 is pilot robot, and 1-4,1-5,1-6 are to follow robot.
Fig. 2 is Multi Mobile Robots Formation's scene figure based on navigator's follower type (by taking triangle is formed into columns as an example).Wherein: 2-
1 indicates pilot robot, and 2-4,2-5 are two and follow robot.2-2,2-3 are respectively two and follow the corresponding ideal of robot
The virtual robot of position.
Fig. 3 is the default formation schematic diagram of navigator's follower type formation under different scales.Wherein: 3-1 is pilot robot, 3-2
To follow robot.
Fig. 4 is substitute fault tolerant control method confirmatory experiment under the conditions of pilot robot communication failure, in which: L is pathfinder
Device people, F1, F2, F3To follow robot.
Fig. 5 is substitute fault tolerant control method experimental traces under the conditions of pilot robot communication failure, in which: the track Leader
For pilot robot running track, F1, F2, F3Actual path is to follow robot running track.
Specific embodiment
The present invention is started with from navigator's follower type formation communication angle, using the broadcast operation frame based on fixed frequency range
Structure, and on the basis of the communication technology, a kind of more general multiple aircraft formation fault tolerant control method is proposed, to solve pathfinder
Multiple aircraft formation faults-tolerant control problem in the case of device people's communication failure.
Navigator's follower type multiple aircraft formation fault-tolerant control system based on broadcast operation framework includes: mobile robot global
Positioning system, the wireless network based on broadcast operation framework and multiple mobile robots, referring to Fig. 1.Wherein mobile robot
There are many adoptable global localization method of Global localization system, and the indoor Global localization based on supersonic wave beacon is selected in the present invention
Method, a kind of specific visible Chinese patent application: Multi Mobile Robots Formation's control method (application based on indoor Global localization
Number: 201711125796.3).
Wireless network based on broadcast operation framework includes: fixed communication channel, information transmit-receive unit.
Fixed communication channel is a certain fixed frequency range being manually set according to each robot requirements analysis.
Information transmit-receive unit is connected using radio receiving transmitting module (1-1) with the processor (1-2) of each mobile robot, is
The bridge of the intercommunication of mobile robot, pilot robot (1-3) and follows robot (1-4,1-5,1-6) to carry letter
Transmit-Receive Unit is ceased, pilot robot is defaulted as sending mode, robot is followed to be defaulted as reception pattern.
The specific implementation steps are as follows for navigator's follower type multiple aircraft formation fault tolerant control method based on broadcast operation framework:
Step1: the initialization of mobile robot
The initialization of mobile robot specifically includes that distribution navigates, follows two kinds of mobile robot roles, appoints according to forming into columns
Business and robot quantity preset flight pattern pattern and (flight pattern pattern including current robot quantity and are less than current machine
The flight pattern pattern of device people's quantity), initialize mobile robot positioning system.
Step2: multiple mobile robot communication network of the building based on broadcast operation framework
1) each wireless transmit/receive units parameter setting: in order to realize the communication between robot, wireless module needs that phase is arranged
Communication frequency together, baud rate, the parameters such as transmission rate, transmitting-receiving address.
2) set mobile robot sending and receiving data frame head: the roles and ID different according to robot set robot interactive mistake
Different data frame head in journey.
3) each robot default communication mode is arranged: fleet system is set as simplex communication under normal circumstances, and configuration is navigated
The information transmit-receive unit of robot is sending mode, respectively follows the artificial reception pattern of machine.
Step3: navigator's follower type multiple aircraft formation forming and holding under ideal operating condition
1) according to mobile robot body construction and driving method, moveable robot movement model is established, and structure according to this
Build the kinematics model of Multi Mobile Robots Formation.
2) by indoor Global localization system, each robot real-time pose information is obtained, utilizes broadcast operation framework, neck
Posture information is sent to by boat robot in real time follows robot.
3) follow robot according to preset multiple aircraft formation formation geological information, in conjunction with the real time position meter of pilot robot
Calculate the ideal pose of itself；Then, it follows robot according to the real-time pose of itself and ideal pose, respective position is calculated
Appearance tracking error.
4) existing multiple aircraft formation control method is selected, such as: PID control, synovial membrane control methods, as following robot
Motion controller, and follow the posture tracking error of robot to level off to 0 to control according to this, to realize entire multiple aircraft formation system
The flight pattern for forming and keeping set unite come the task of fulfiling assignment.
Step4: the optimal substitute fault tolerant control method of distance under the conditions of pilot robot communication failure
When communication failure occurs for pilot robot, pilot robot cannot send the posture information of itself to setting frequency
In road, while following robot that can not receive the posture information of pilot robot under the communication channel.In fixed communication
On the basis of the broadcast operation framework of frequency range, fleet system is made decisions on one's own according to apart from optimal substitute fault tolerant control method immediately
New pilot robot out, so that approximate flight pattern be kept to execute expected job task, the specific steps are as follows:
4.1 after pilot robot detects self communication failure, immediately exit from formation task and stop at present bit
It sets；The posture information for not receiving pilot robot transmission in robot continuous three duty cycles is followed, then is judged to navigating
Robot communication breaks down.
4.2 under the conditions of pilot robot communication failure, and robot is respectively followed to use apart from optimal substitute faults-tolerant control side
Method calculates corresponding distance function Si: firstly, according to following robot current location communicating with failure pilot robot
The self-position of last time broadcast before failure, calculates and is respectively followed between robot and failure pilot robot under current formation
Distance di；Then, the quantity that robot is followed according to current residual is preset from multiple aircraft formation and selects machine in formation library (Fig. 3)
The new flight pattern that people's quantity matches, and calculate and respectively follow robot as team under the conditions of the pilot robot of new flight pattern
The cost function L of fractal transformi；Finally, respectively following robot according to corresponding diAnd LiIts distance function S is calculatedi,
And the new pilot robot under new flight pattern is selected according to distance function minimum principle.
4.3 after selecting new pilot robot, realizes new navigator's machine with apart from optimal substitute fault tolerant control method
People and other follow robot to reach corresponding new position: new pilot robot is using displacement controller and existing keeps away
Method autonomous is touched to failure pilot robot position point；Meanwhile other follow robot to control using displacement
Device is moved to corresponding new location point determined by the cost function of selected new formation and new pilot robot, thus shape
At the new flight pattern under the conditions of pilot robot communication failure.
4.4 in new flight pattern, and new pilot robot radio receiving transmitting module automatically switches to sending mode, other are followed
Robot continues to keep reception pattern, and communication construction reverts to broadcast type again, other follow robot to start to receive new navigator
The real-time pose that robot is sent follows flight pattern to realize with new navigator to continue to execute set job task.
In above-mentioned 4.2 step, according to apart from optimal substitute fault tolerant control method, calculating respectively follows robot distance function
SiSpecific method be explained as follows:
1. respectively following robot during making decisions on one's own new pilot robot, need to lose referring to pilot robot communication
Navigator's follower type, which is formed into columns, under formation and different scales before effect presets formation, and calculating respectively follows robot distance function Si
Si=di+Li
Wherein diIndicate that this follows robot away from the distance between failure pilot robot；LiIt indicates to follow robot at this
Cost function as evolution under the conditions of new pilot robot.
Follow robot away from the distance between failure pilot robot d firstly, calculatingi.Using following robot FiCurrent
The position coordinates sent before position coordinates and pilot robot communication failure, calculating follow robot FiDistance failure navigator's machine
The distance between people.
Then, the new formation after pilot robot communication failure is selected.After pilot robot communication failure, in flight pattern
Robot quantity is reduced, according to the quantity for following robot remaining after pilot robot communication failure, in conjunction under different scales
The new formation to match in robot quantity is selected in navigator's follower type formation default formation (Fig. 3).
Robot F is followed finally, calculatingiCost function L as evolution under the conditions of new pilot roboti.Pathfinder
After device people's communication failure, robot quantity is reduced in flight pattern, is needed to elect new pilot robot and is gone to fill up vacancy position
It sets, the present invention is just respectively to follow robot to be moved to foundation of the least cost function as evolution of vacant locations to be filled up.
If function l (Fi,Bj) it is robot FiTo vacant locations B to be filled upjDistance, according to residue follow robot with wait fill up surplus
Remaining position can obtain n × n rank matrix:
Define cost function L:
When following robot FiCapture B in formationjX when positionij=1, otherwise xij=0；Because each robot is final only
There are a reserved locations, and all reserved locations take robot, soWork as difference
The identical situation of position distribution cost function L under, then randomly choose a kind of allocation plan.According to default during evolution
Formation is likely to occur a variety of mapping modes, and cost function L then indicate each mobile robot need to adjust position distance it
The minimum value of sum, optimal evolution mode is selected according to cost function L, this kind of mapping mode can guarantee each machine
People needs mobile sum of the distance most short.
2. each follow robot that itself distance function S has been calculatediAfterwards, switch communication mode successively according to ID sequence as hair
Mode is sent, by the distance function S under self ID and the positioniIt sends in communication channel, is converted to reception pattern immediately, receive
Other follow the ID and S of roboti', follow robot information transmit-receive to finish until all.
3. respectively following robot by itself distance function SiWith other each robot distance function Si'It compares, if gone out
Other robot now smaller than itself distance function then continues to serve as to follow robot；If itself SiMinimum, then should be with random
Device people is as new pilot robot.
Below with reference to fault tolerant control method confirmatory experiment of substituting under the conditions of pilot robot communication failure, with triangle multimachine
For formation, the specific embodiment of the invention is described as follows:
1, the initialization of mobile robot
Mobile robot initialization specifically includes that initialization formation graphical information, navigate under different scales as shown in Figure 3 with
It forms into columns with type and presets formation schematic diagram, configure the wireless communication unit etc. between multimachine.With triangle multiple aircraft formation shown in Fig. 2
For be illustrated, initialize the geometric figure of multiple aircraft formation: pilot robot (2-1) is the vertex of triangle formation, is followed
Robot (2-4,2-5) be triangle formation bottom edge two endpoints, and respectively with pilot robot distance be L, angle is
2, multiple mobile robot's communication network based on broadcast operation framework is constructed
1) each wireless transmit/receive units parameter setting: wireless module parameter is configured by taking this system as an example, communication frequency:
2.4GHz；Transmit and receive address: 0x34 0x43 0x10 0x10 0x01；Baud rate: 115200；Air transfer rate 2MHz/
s。
2) mobile robot sending and receiving data frame head is set: while mobile robot data frame head meaning is such as in communication process
Shown in table:
1 multiple mobile robot of table communicates each data frame head
3) each robot is arranged and defaults working method: the information transmit-receive unit for configuring pilot robot is transmission state, with
The artificial reception state of random device；
3, the navigator's follower type multiple aircraft formation forming and holding under ideal operating condition
Indoor Global localization system based on supersonic wave beacon can obtain pilot robot (2-1), with random device in real time
The current posture information of people (2-4,2-5), and the pose includes position coordinates and direction angle information.
It is illustrated for following robot (2-4), it is assumed that current time pilot robot (2-1) pose is (x1 y1
θ1)T, follow robot (2-4) pose (x2 y2 θ2)T.It is the triangle flight pattern of L to keep set side length, then needs
Real-time tracking virtual robot (2-2), and the pose coordinate of virtual robot (2-2) can calculate it is as follows:
By the Multi computer communication network based on fixed communication frequency range, robot is followed to receive the posture information of pilot robot
Afterwards, the pose coordinate that its corresponding virtual robot (2-2) is calculated according to predetermined formation, can be calculated and follow robot (2-
4) tracking position and attitude error (xe ye θe)T, wherein (xe ye θe)T=(x2-xr y2-yr θ2-θr)T.According to respectively with random device
The tracking position and attitude error of people uses corresponding motion controller.
The motion control rate needed for forming into columns is solved according to motion controller, and designs the relevant parameter in control rate；Again with
Present speed information combines, and finds out linear velocity needed for each following robot to keep flight pattern in the sampling period and angle speed
Degree.Robot is followed to be moved according to resulting linear velocity and angular speed, it is ensured that respectively to follow the tracking position and attitude error of robot
It levels off to 0, multiple mobile robot is made to execute job task under conditions of keeping flight pattern.
4, the optimal substitute faults-tolerant control of distance under the conditions of pilot robot communication failure
It is analyzed by the real-time coordinates point of indoor Global localization system record during fleet system whole service, is schemed
4 be fault tolerant control method confirmatory experiment of substituting under the conditions of pilot robot communication failure, and Fig. 5 is pilot robot L and with random
Device people F1, F2, F3Actual motion track, specific experiment process is as follows:
1) as shown in track in Fig. 4, robot F is followed1, F2, F3Side length is formed under the leading of pilot robot L isDiamond box, 0-15s fleet system operate normally.As 15s, pilot robot L communicates catastrophic failure, moves back
Out fleet system and stop arrive current location.Three duty cycles of the robot under wireless module working frequency are respectively followed not have
The posture information of pilot robot is received, determines pilot robot communication failure.
2) robot quantity by 4 is reduced to 3 in flight pattern, forms into columns in conjunction with navigator's follower type under different scales default
Formation selects robot quantity to form into columns for 3 New triangular, and robot is then respectively followed to utilize apart from the optimal fault-tolerant control of substitute
Method processed, which calculates, respectively follows robot distance function Si, obtained by comparison and follow robot F3For distance function most the superior, with
Random device people F3Competition becomes new pilot robot.
3) robot F is followed3Substitute failure pilot robot is gone during 15-40s as new pilot robot and is reached
To failure pilot robot position point, during substitute according to the pose point of failure robot L by the way of planned trajectory
Collision prevention is carried out, robot F is followed1And F2According to carrying out evolution under the constraint of least cost function.
4) it ultimately forms to follow robot F3Triangle as new pilotage people is formed into columns, new pilot robot F3By nothing
Line Transmit-Receive Unit is switched to sending mode, leads and follows robot F1And F2Continue to execute set job task of forming into columns.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective
In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.
Claims (7)
1. a kind of navigator's follower type multiple aircraft formation fault tolerant control method based on broadcast operation framework, it is characterised in that: including
Following steps:
Step 1: establish navigator's follower type Mobile Robot Formation, distribution navigates, follows two kinds of mobile robot roles, and according to
Formation task and mobile robot quantity preset flight pattern pattern, and the flight pattern pattern includes current robot quantity
Flight pattern pattern and flight pattern pattern less than current robot quantity；Building is based on broadcast operation framework simultaneously
Multiple mobile robot's communication network；
Step 2: navigator's follower type multiple aircraft formation forming and holding:
Step 2.1: obtaining each robot real-time pose information, using broadcast operation framework, pilot robot is by posture information
It is sent in real time and follows robot；
Step 2.2: robot being followed to calculate itself according to the real time position of preset flight pattern combination of patterns pilot robot
Ideal pose, and respective posture tracking is calculated according to itself real-time pose and ideal pose followed by robot
Error；
Step 2.3: following robot to be controlled according to posture tracking error, posture tracking error is made to level off to 0, realize entire
Multiple aircraft formation system forms and keeps set flight pattern come the task of fulfiling assignment；
Step 3: the optimal substitute faults-tolerant control of distance under the conditions of pilot robot communication failure:
Step 3.1: after pilot robot detects self communication failure, immediately exiting from formation task and stop at present bit
It sets；The N number of duty cycle for following robot continuously to set does not receive the posture information of pilot robot transmission, then is judged to leading
Navigate robot communication failure；
Step 3.2: respectively following robot to calculate corresponding distance function, wherein following robot F for i-thiDistance function
Si:
Si=di+Li
Wherein diIndicate that this follows robot away from the distance between failure pilot robot, LiFor under new flight pattern, with random device
People FiAs the cost function of evolution under the conditions of new pilot robot, the cost function LiTo follow robot FiAs
When new pilot robot, each robot is moved to the minimum value of the moving distance sum of corresponding position in formation after transformation；
Step 3.3: it is each follow robot that itself distance function value has been calculated after, successively switching communication mode according to ID sequence is
Distance function value under self ID and the position is sent in communication channel, is converted to reception pattern immediately, connects by sending mode
The ID and corresponding distance function value that other follow robot are received, follows robot information transmit-receive to finish until all；
Step 3.4: respectively follow robot to compare itself distance function value and other each robot distance function values, if
There is the other robot smaller than itself distance function value, then itself continues to serve as to follow robot；If itself distance function
Value is minimum, then this follows robot as new pilot robot；Then return step 2 re-start navigator's follower type multimachine
It forms into columns and shapes and keep.
2. a kind of navigator's follower type multiple aircraft formation faults-tolerant control side based on broadcast operation framework according to claim 1
Method, it is characterised in that: in multiple mobile robot's communication network, each robot default communication mode is simplex communication, wherein navigating
The artificial sending mode of machine follows the artificial reception pattern of machine.
3. a kind of navigator's follower type multiple aircraft formation faults-tolerant control side based on broadcast operation framework according to claim 1
Method, it is characterised in that: in step 2.1, each robot real-time pose information is obtained by the Global localization system of outside setting.
4. a kind of navigator's follower type multiple aircraft formation faults-tolerant control side based on broadcast operation framework according to claim 1
Method, it is characterised in that: using PID control or synovial membrane control methods to following robot to control in step 2.3.
5. a kind of navigator's follower type multiple aircraft formation faults-tolerant control side based on broadcast operation framework according to claim 1
Method, it is characterised in that: in step 3.2, follow robot away from the distance between failure pilot robot diAccording to following robot Fi
The position coordinates sent before current position coordinates and pilot robot communication failure calculate.
6. a kind of navigator's follower type multiple aircraft formation faults-tolerant control side based on broadcast operation framework according to claim 1
Method, it is characterised in that: in step 3.2, the calculating process of cost function are as follows:
If function l (Fi,Bj) it is robot FiAway from vacant locations B to be filled up in formation after transformationjDistance, according to remaining robot
Number n and rest position to be filled up of newly forming into columns can obtain n × n rank matrix:
Define cost function L are as follows:
Wherein when following robot FiCapture B in new form into columnsjX when positionij=1, otherwise xij=0.
7. a kind of navigator's follower type multiple aircraft formation faults-tolerant control side based on broadcast operation framework according to claim 1
Method, it is characterised in that: in step 3.4, each robot is moved to during the corresponding position in new form into columns, according to failure machine
The position of people, using the pose control method for movement for having avoidance obstacle.
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