CN110502016A - A method of keep multirobot queue to go on patrol consistency - Google Patents
A method of keep multirobot queue to go on patrol consistency Download PDFInfo
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- CN110502016A CN110502016A CN201910809810.4A CN201910809810A CN110502016A CN 110502016 A CN110502016 A CN 110502016A CN 201910809810 A CN201910809810 A CN 201910809810A CN 110502016 A CN110502016 A CN 110502016A
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- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 31
- 238000004590 computer program Methods 0.000 claims description 6
- 230000017105 transposition Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims 1
- 239000011800 void material Substances 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
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Classifications
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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
Abstract
The invention belongs to mobile robot technology fields, and in particular to a method of keep multirobot queue to go on patrol consistency, comprising steps of Step1: determining formation, that is, determine the relative positional relationship of each robot；Select the center of formation for the origin of cartesian coordinate system, coordinate of the recorder people under the coordinate；Step2: generating virtual pilotage people, take the center of formation in step1 as the position of virtual pilotage people；step3；Formation movement sends motion control instruction to virtual pilotage people.This programme generates virtual pilotage people according to formation, and the position and posture of virtual pilotage people is updated according to robot motion model, ensure that pilotage people will not be by external interference, to promote the stability of multi-robot patrol system；By formation regard rigid body as and real-time update ensure that robot formation movement consistency.
Description
Technical field
The invention belongs to mobile robot technology fields, and in particular to a kind of that multirobot queue is kept to go on patrol consistency
Method.
Background technique
Multi-robot formation is typical multi-robot system cooperation project, it is desirable that inquires into multiple robots from the angle of system
Cooperation behavior, information exchange and evolutionary mechanism of body etc..With the development of multirobot, multi-robot formation control at present is
The problem of being widely noticed as one.
Common in the art follows pilotage people's method: selecting one of robot as pilotage people, Qi Taji
Device people is by tracking the state of pilotage people come the shortcomings that controlling displacement to make whole system realize the particular task prior art:
Follow pilotage people's method to realize simple, once however pilotage people go wrong, then entire multi-robot system paralysis, system stability
Difference.
Summary of the invention
In order to solve technological deficiency existing in the prior art, the invention proposes a kind of holding multirobot queue patrols
The method of consistency.
The invention is realized by the following technical scheme:
A method of keep multirobot queue to go on patrol consistency, comprising steps of
Step1: determining formation, obtains the positional relationship of each robot；And using the center of formation as coordinate origin；
Step2: generating virtual pilotage people, take the center of formation in step1 as the position of virtual pilotage people, is denoted as R0；
step3；Formation movement sends motion control instruction to virtual pilotage people.
Further, the step3 further comprises: sending motion control instruction, control amount u to virtual pilotage peoplet,
And virtual pilotage people's position and posture x is updated according to motion modelt, motion model is as follows:
xt=f (ut,xt-1)
In formula, xt=[x, y, θ]T, subscript t is the moment, and T indicates that transposition, (x, y) are virtual pilotage people's world coordinates, and θ is
Virtual pilotage people is towards angle.
Further, other robot is based on the pose for tracking virtual pilotage people, to determine oneself object pose.
Further, the other robot is based on the pose for tracking virtual pilotage people, to determine oneself coordinates of targets
It specifically includes: robot RiObject pose be [x+ △ xi,y+△yi,θ]T,
Wherein, i=1,2 ..., n, n are robot sum, (△ xi,△yi) it is robot RiRelative to formation center
Coordinate, T indicate transposition.
Further, the step3 further comprises: control robot is interior at the appointed time to move to object pose.
A kind of computer program comprising one or more computer instruction, one or more computer instruction exist
The method for keeping multirobot queue patrol consistency is realized when execution.
A kind of computer readable storage medium is further related to, computer program is stored thereon with, which is executed by processor
Described in Shi Shixian the step of the method for holding multirobot queue patrol consistency.
Further relate to a kind of computer equipment, including memory, processor and storage are on a memory and can be on a processor
The computer program of operation, the processor realize that consistency is gone on patrol in the holding multirobot queue when executing described program
Method the step of.
Compared with prior art, the present invention at least has the following beneficial effects or advantage:
1) virtual pilotage people is generated according to formation, and updates the pose shape of virtual pilotage people according to robot motion model
State ensure that pilotage people will not be by external interference, to promote the stability of multi-robot patrol system；
2) by formation regard rigid body as and real-time update ensure that robot formation movement consistency.
Detailed description of the invention
The present invention is described in further details below with reference to attached drawing；
Fig. 1 is multirobot formation figure of the invention；
Fig. 2 is that flow chart is gone on patrol in queue of the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
The present invention provides a kind of scheme for going on patrol the consistency that how to keep rank in the process in queue for multirobot: each
There is unique identities number in robot.
Step1: formation is determined
Determine the relative positional relationship of each robot.It selects the center of formation for the origin of cartesian coordinate system, remembers
Record coordinate of the robot under the coordinate, R1(△x1,△y1),R2(△x2,△y2)…Rn(△xn,△yn).R in formulaiIt indicates
The robot for being i for number, i=1,2 ..., n, (△ xi,△yi) it is robot RiRelative to the coordinate at formation center, n is machine
Device people's sum；Multirobot formation is as shown in Figure 1.
Step2: virtual pilotage people is generated
Take the center of formation in step1 as the position of virtual pilotage people, is denoted as R0。
step3；Formation movement
Motion control instruction, control amount u are sent to virtual pilotage peoplet, and virtual pilotage people is updated according to motion model
Position and posture xt, motion model is as follows:
xt=f (ut,xt-1)
Here xt=[x, y, θ]T, (x, y) is virtual pilotage people's world coordinates, and θ is virtual pilotage people towards angle.
Other robot then tracks the pose of virtual pilotage people, to determine oneself coordinates of targets, with robot R1For,
Regard formation as a rigid body, then robot R1Object pose be [x+ △ x1,y+△y1,θ]T.It is current to be then based on robot
Pose and object pose solve required motion control amount according to motion model is counter, thus control robot at the appointed time in fortune
Move object pose, the consistency for the guarantee formation that so many machine queue patrol can be stable；Queue goes on patrol flow chart such as
Shown in Fig. 2.
The present invention also provides a kind of computer programs comprising one or more computer instruction, described one or more
Computer instruction realizes the method for keeping multirobot queue patrol consistency when being executed.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Describe in detail it is bright, it should be understood that the above is only a specific embodiment of the present invention, the guarantor being not intended to limit the present invention
Protect range.Without departing from the spirit and scope of the invention, any modification, equivalent substitution, improvement and etc. done also belong to this
Within the protection scope of invention.
Claims (8)
1. a kind of method for keeping multirobot queue patrol consistency, which is characterized in that comprising steps of
Step1: determining formation, obtains the positional relationship of each robot；And using the center of formation as coordinate origin；
Step2: generating virtual pilotage people, take the center of formation in step1 as the position of virtual pilotage people, is denoted as R0；
step3；Formation movement sends motion control instruction to virtual pilotage people.
2. the method according to claim 1 for keeping multirobot queue patrol consistency, which is characterized in that described
Step3 further comprises: sending motion control instruction, control amount u to virtual pilotage peoplet, and void is updated according to motion model
Quasi- pilotage people's position and posture xt, motion model is as follows:
xt=f (ut,xt-1)
In formula, xt=[x, y, θ]T, subscript t is the moment, and T indicates that transposition, (x, y) are virtual pilotage people's world coordinates, and θ is virtual
Pilotage people is towards angle.
3. the method according to claim 2 for keeping multirobot queue patrol consistency, which is characterized in that other machines
People is based on the pose for tracking virtual pilotage people, to determine oneself object pose.
4. it is according to claim 3 keep multirobot queue patrol consistency method, which is characterized in that it is described other
Robot is based on the pose for tracking virtual pilotage people, and the coordinates of targets to determine oneself specifically includes: robot RiTarget position
Appearance is [x+ △ xi,y+△yi,θ]T,
Wherein, i=1,2 ..., n, n are robot sum, (△ xi,△yi) it is robot RiRelative to the coordinate at formation center,
T indicates transposition.
5. the method according to claim 1 for keeping multirobot queue patrol consistency, which is characterized in that described
Step3 further comprises: control robot is interior at the appointed time to move to object pose.
6. a kind of computer program, which is characterized in that including one or more computer instruction, one or more computer
Any method for keeping multirobot queue patrol consistency of claim 1-5 is realized in instruction when being executed.
7. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
The step of method of any holding multirobot queue patrol consistency of claim 1-5 is realized when row.
8. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes claim 1-5 any holding multimachine when executing described program
The step of method of consistency, is gone on patrol in device people's queue.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910809810.4A CN110502016A (en) | 2019-08-29 | 2019-08-29 | A method of keep multirobot queue to go on patrol consistency |
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| CN201910809810.4A CN110502016A (en) | 2019-08-29 | 2019-08-29 | A method of keep multirobot queue to go on patrol consistency |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111722625A (en) * | 2019-12-18 | 2020-09-29 | 北京交通大学 | Stability analysis method for time-varying number group robot relay target tracking system |
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| US20100168950A1 (en) * | 2009-01-01 | 2010-07-01 | Masakuni Nagano | Path Planning Device, Path Planning Method, and Computer Program |
| CN105182734A (en) * | 2015-09-17 | 2015-12-23 | 哈尔滨工程大学 | Air cushion ship formation control device and method based on virtual navigator and navigation strategy |
| CN108549394A (en) * | 2018-04-12 | 2018-09-18 | 哈尔滨工程大学 | A kind of more AUV straight lines formation control methods based on pilotage people and virtual pilotage people |
| CN109032138A (en) * | 2018-07-25 | 2018-12-18 | 南京理工大学 | Multi-robot formation control system and method based on consistency algorithm |
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2019
- 2019-08-29 CN CN201910809810.4A patent/CN110502016A/en active Pending
Patent Citations (4)
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|---|---|---|---|---|
| US20100168950A1 (en) * | 2009-01-01 | 2010-07-01 | Masakuni Nagano | Path Planning Device, Path Planning Method, and Computer Program |
| CN105182734A (en) * | 2015-09-17 | 2015-12-23 | 哈尔滨工程大学 | Air cushion ship formation control device and method based on virtual navigator and navigation strategy |
| CN108549394A (en) * | 2018-04-12 | 2018-09-18 | 哈尔滨工程大学 | A kind of more AUV straight lines formation control methods based on pilotage people and virtual pilotage people |
| CN109032138A (en) * | 2018-07-25 | 2018-12-18 | 南京理工大学 | Multi-robot formation control system and method based on consistency algorithm |
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| Title |
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| 王钦钊 等: "基于多虚拟领航者的多机器人编队控制方法", 《装甲兵工程学院学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111722625A (en) * | 2019-12-18 | 2020-09-29 | 北京交通大学 | Stability analysis method for time-varying number group robot relay target tracking system |
| CN111722625B (en) * | 2019-12-18 | 2021-09-21 | 北京交通大学 | Stability analysis method for time-varying number group robot relay target tracking system |
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