技术领域technical field
本发明涉及多机器人编队容错控制领域，具体为一种基于广播式通信架构的领航跟随型多机编队容错控制方法。The invention relates to the field of multi-robot formation fault-tolerant control, in particular to a pilot-following multi-machine formation fault-tolerant control method based on broadcast communication architecture.
背景技术Background technique
多机器人编队是指各个机器人通过相互协调最终在保持特定几何形状基础上完成预定任务，在这其中各个机器人之间的通信则是多机的基础。多机编队具有覆盖范围广、合作效率高、抗损毁性强等优点，在无人机群盯梢侦察、联合救援与反恐、多机合作搬运等领域得到广泛应用。其中领航跟随型编队具有控制简单、稳定性高、扩展性好等优点，在编队控制方法中应用最为广泛。Multi-robot formation means that each robot coordinates with each other and finally completes the predetermined task on the basis of maintaining a specific geometric shape, in which the communication between each robot is the basis of multi-machine. Multi-aircraft formation has the advantages of wide coverage, high cooperation efficiency, and strong damage resistance. It has been widely used in the fields of UAV swarm tracking and reconnaissance, joint rescue and anti-terrorism, and multi-aircraft cooperative handling. Among them, the leader-following formation has the advantages of simple control, high stability, and good scalability, and is most widely used in formation control methods.
领航跟随型多机编队是在执行编队任务的多机器人群体中，按照编队队形设定，跟随机器人以一定的距离间隔实时自主地跟随领航者的位置和方向，最终共同形成预定编队队形。其中，领航机器人负责路径规划、环境探测，并实时将自身位姿发送给各跟随机器人，是整个多机编队系统的核心。The pilot-following multi-machine formation is in the multi-robot group performing the formation task. According to the formation formation setting, the following robots autonomously follow the position and direction of the leader in real time at a certain distance interval, and finally jointly form a predetermined formation formation. Among them, the pilot robot is responsible for path planning, environment detection, and real-time sending of its own pose to each follower robot, which is the core of the entire multi-machine formation system.
随着多机编队应用领域的多样化、应用场景的复杂化，特别是在强对抗的战场环境下，编队在执行任务的过程中，部分个体失效不可避免。尤其是当领航机器人产生通信故障时，领航机器人与各跟随机器人之间的通信随即中断，将无法继续向其他机器人发送位置及环境信息，导致跟随机器人失去领导者，使编队处于无组织状态，导致编队瓦解无法继续执行任务。With the diversification of multi-machine formation application fields and the complexity of application scenarios, especially in the battlefield environment of strong confrontation, it is inevitable that some individual failures will occur during the task execution of the formation. Especially when the leader robot has a communication failure, the communication between the leader robot and the follower robots will be interrupted immediately, and it will not be able to continue to send position and environment information to other robots, resulting in the loss of the leader of the follower robot, making the formation in an unorganized state, resulting in The formation collapsed and was unable to continue the mission.
在多机编队系统控制方法方面，现有研究主要侧重于理想环境下的轨迹跟踪问题，且主要侧重于移动机器人的运动控制算法研究。而以对抗环境下的多机编队容错控制为切入点的研究相对较少。另外，在现有多机编队容错控制研究中，也主要是针对理想情况下的领航机器人遴选问题，而很少研究领航机器人失效条件下多跟随机器人的无碰撞竞争替补问题。In terms of control methods for multi-machine formation systems, existing research mainly focuses on the trajectory tracking problem in an ideal environment, and mainly focuses on the research of motion control algorithms for mobile robots. However, there are relatively few studies on the fault-tolerant control of multi-aircraft formation in the confrontation environment. In addition, in the existing multi-machine formation fault-tolerant control research, it is mainly aimed at the selection of the leader robot under ideal conditions, and rarely studies the collision-free competition replacement problem of multiple follower robots under the failure of the leader robot.
在多机编队系统通信方式方面，目前最常见的通信则为点对点式通信，点对点式通信中最具有代表性的通信网络则为无线局域网。无线局域网主要是针对确定性条件下的机器人组网与交互，无法考虑实际应用当中的领航机器人通信失效问题，因此本文以此为切入点建立基于固定通信频段的广播式通信架构。In terms of multi-machine formation system communication, the most common communication is point-to-point communication, and the most representative communication network in point-to-point communication is wireless local area network. The wireless local area network is mainly aimed at robot networking and interaction under deterministic conditions, and cannot consider the communication failure problem of the pilot robot in practical applications. Therefore, this paper uses this as an entry point to establish a broadcast communication architecture based on fixed communication frequency bands.
在实际问题中，领航机器人通信故障将引起领航机器人与跟随机器人之间的通信中断，使编队处于无组织状态，导致整个编队系统紊乱而无法继续执行作业任务。因此，本发明以广播式通信架构作为多机器人之间通信方式，在此基础上提出了一种适用于领航机器人通信失效的距离最优替补容错控制方法。In practical problems, the communication failure of the leader robot will cause the interruption of communication between the leader robot and the follower robot, making the formation in an unorganized state, causing the entire formation system to be disordered and unable to continue to perform tasks. Therefore, the present invention uses the broadcast communication architecture as the communication mode between multiple robots, and on this basis, proposes a distance-optimal substitute fault-tolerant control method suitable for pilot robot communication failure.
发明内容Contents of the invention
当领航跟随型多机编队系统工作在复杂未知的对抗环境中时，个体机器人失效在所难免。本发明针对领航机器人通信失效的情况，基于广播式通信架构在网络全连通方面的优势，将这种分布式的广播式通信架构引入领航跟随型多机编队控制问题中，提出了一种基于广播式通信架构的领航跟随型多机编队容错控制方法。旨在解决因领航机器人故障或损毁带来的整个多机编队失效问题。同时为多移动机器人的自主成形、队形保持、队形变换、目标跟踪和编队系统故障后的任务执行提供一种有效、可扩展、具有容错功能的编队通信方法支持。When the leader-following multi-machine formation system works in a complex and unknown confrontation environment, the failure of individual robots is inevitable. Aiming at the failure of the communication of the pilot robot, the present invention introduces the distributed broadcast communication architecture into the pilot-following multi-machine formation control problem based on the advantages of the broadcast communication architecture in the aspect of full network connectivity, and proposes a broadcast-based A pilot-following multi-machine formation fault-tolerant control method based on a communication architecture. It aims to solve the problem of failure of the entire multi-machine formation caused by the failure or damage of the pilot robot. At the same time, it provides an effective, scalable and fault-tolerant formation communication method support for autonomous formation, formation maintenance, formation transformation, target tracking and task execution after formation system failure of multiple mobile robots.
基于上述原理，本发明的技术方案为：Based on above-mentioned principle, technical scheme of the present invention is:
所述一种基于广播式通信架构的领航跟随型多机编队容错控制方法，其特征在于：包括以下步骤：Said a pilot-following multi-machine formation fault-tolerant control method based on broadcast communication architecture, is characterized in that: comprising the following steps:
步骤1：建立领航跟随型移动机器人编队，分配领航、跟随两种移动机器人角色，并根据编队任务以及移动机器人数量预设编队队形图案，所述编队队形图案包括当前机器人数量的编队队形图案和少于当前机器人数量的编队队形图案；同时构建基于广播式通信架构的多移动机器人通信网络；Step 1: Establish a leader-following mobile robot formation, assign the roles of leader and follower mobile robots, and preset the formation pattern according to the formation task and the number of mobile robots. The formation pattern includes the formation pattern of the current number of robots Patterns and formation patterns with less than the current number of robots; at the same time construct a multi-mobile robot communication network based on broadcast communication architecture;
步骤2：领航跟随型多机编队成形与保持：Step 2: Formation and maintenance of the pilot-following multi-aircraft formation:
步骤2.1：获取各机器人实时位姿信息，利用广播式通信架构，领航机器人将位姿信息实时发送给跟随机器人；Step 2.1: Obtain the real-time pose information of each robot, and use the broadcast communication architecture to send the pose information to the follower robot in real time from the pilot robot;
步骤2.2：跟随机器人根据预设的编队队形图案结合领航机器人的实时位置计算自身的理想位姿，而后跟随机器人依据自身的实时位姿和理想位姿，计算得到各自的位姿跟踪误差；Step 2.2: The follower robot calculates its own ideal pose according to the preset formation pattern combined with the real-time position of the pilot robot, and then the follower robot calculates its own pose tracking error based on its own real-time pose and ideal pose;
步骤2.3：跟随机器人根据位姿跟踪误差进行控制，使位姿跟踪误差趋近于0，实现整个多机编队系统形成和保持既定的编队队形来完成作业任务；Step 2.3: The following robot is controlled according to the pose tracking error, so that the pose tracking error approaches 0, and the entire multi-machine formation system forms and maintains a predetermined formation formation to complete the task;
步骤3：领航机器人通信失效条件下的距离最优替补容错控制：Step 3: Distance-optimal substitute fault-tolerant control of the pilot robot under the condition of communication failure:
步骤3.1：当领航机器人检测到自身通信失效后，其立即退出编队任务并停止于当前位置；跟随机器人连续设定的N个工作周期未接收到领航机器人发送的位姿信息，则判定为领航机器人通信发生故障；Step 3.1: When the leader robot detects that its own communication is invalid, it immediately exits the formation task and stops at the current position; the follower robot does not receive the pose information sent by the leader robot for N consecutive working cycles, then it is determined to be the leader robot communication failure;
步骤3.2：各跟随机器人计算各自对应的距离函数，其中第i个跟随机器人Fi的距离函数Si：Step 3.2: Each follower robot calculates its corresponding distance function, where the distance function Si of the i-th follower robot Fi is:
Si＝di+LiSi =di +Li
其中di表示该跟随机器人距失效领航机器人之间的距离，Li为新编队队形下，跟随机器人Fi作为新领航机器人条件下队形变换的代价函数，所述代价函数Li为跟随机器人Fi作为新领航机器人时，各个机器人移动到变换后队形中相应位置的移动距离和的最小值；Where di represents the distance between the follower robot and the failed leader robot, Li is the new formation formation, the follower robot Fi is used as the cost function of formation transformation under the new leader robot condition, and the cost function Li is the following When the robot Fi is used as the new leader robot, the minimum value of the moving distance sum of each robot moving to the corresponding position in the transformed formation;
步骤3.3：各个跟随机器人计算完自身距离函数值后，按照ID顺序依次切换通信方式为发送模式，将自身ID和该位置下的距离函数值发送通信频道当中，随即转换为接收模式，接收其他跟随机器人的ID和对应的距离函数值，直到所有跟随机器人信息收发完毕；Step 3.3: After each follower robot calculates its own distance function value, switch the communication mode to the sending mode in sequence according to the ID order, and send its own ID and the distance function value at the position to the communication channel, and then switch to the receiving mode to receive other followers The ID of the robot and the corresponding distance function value, until all the following robot information is sent and received;
步骤3.4：各跟随机器人将自身距离函数值与其它各机器人距离函数值进行对比，如果出现比自身距离函数值小的其他机器人，则自身继续担任跟随机器人；如果自身距离函数值最小，则该跟随机器人作为新的领航机器人；然后返回步骤2，重新进行领航跟随型多机编队成形与保持。Step 3.4: Each following robot compares its own distance function value with the distance function values of other robots. If there are other robots whose distance function value is smaller than its own, it will continue to act as a following robot; if its own distance function value is the smallest, then the following robot The robot serves as the new leader robot; then return to step 2, and re-form and maintain the leader-following multi-machine formation.
进一步的优选方案，所述一种基于广播式通信架构的领航跟随型多机编队容错控制方法，其特征在于：多移动机器人通信网络中，各机器人默认通信方式为单工通信，其中领航机器人为发送模式，跟随机器人为接收模式。In a further preferred solution, the pilot-following multi-machine formation fault-tolerant control method based on the broadcast communication architecture is characterized in that: in the multi-mobile robot communication network, the default communication mode of each robot is simplex communication, wherein the pilot robot is Sending mode, following the robot is receiving mode.
进一步的优选方案，所述一种基于广播式通信架构的领航跟随型多机编队容错控制方法，其特征在于：步骤2.1中，通过外部设置的全局定位系统获取各机器人实时位姿信息。A further preferred solution, the pilot-following multi-machine formation fault-tolerant control method based on a broadcast communication architecture, is characterized in that: in step 2.1, the real-time pose information of each robot is obtained through an external global positioning system.
进一步的优选方案，所述一种基于广播式通信架构的领航跟随型多机编队容错控制方法，其特征在于：步骤2.3中采用PID控制或滑膜控制法对跟随机器人进行控制。A further preferred solution, the pilot-following multi-machine formation fault-tolerant control method based on broadcast communication architecture, is characterized in that: in step 2.3, PID control or synovial control method is used to control the following robots.
进一步的优选方案，所述一种基于广播式通信架构的领航跟随型多机编队容错控制方法，其特征在于：步骤3.2中，跟随机器人距失效领航机器人之间的距离di根据跟随机器人Fi当前的位置坐标与领航机器人通信失效前发送的位置坐标计算。In a further preferred solution, the pilot-following multi-machine formation fault-tolerant control method based on broadcast communication architecture is characterized in that: in step 3.2, the distance di between the following robot and the failed pilot robot is based on the following robot Fi The current position coordinates are calculated with the position coordinates sent before the pilot robot communication fails.
进一步的优选方案，所述一种基于广播式通信架构的领航跟随型多机编队容错控制方法，其特征在于：步骤3.2中，代价函数的计算过程为：A further preferred solution, said a pilot-following multi-machine formation fault-tolerant control method based on broadcast communication architecture, is characterized in that: in step 3.2, the calculation process of the cost function is:
设函数l(Fi,Bj)为机器人Fi距变换后队形中待填补空缺位置Bj的距离，根据剩余机器人个数n与新编队待填补剩余位置可得n×n阶矩阵：Let the function l(Fi , Bj ) be the distance between the robot Fi and the vacant position Bj to be filled in the transformed formation. According to the number of remaining robots n and the remaining positions to be filled in the new formation, an n×n order matrix can be obtained:
定义代价函数L为：Define the cost function L as:
其中当跟随机器人Fi占领新编队中Bj位置时xij＝1，否则xij＝0。Wherein, when the follower robot Fi occupies the position of Bj in the new formation, xij =1, otherwise xij =0.
进一步的优选方案，所述一种基于广播式通信架构的领航跟随型多机编队容错控制方法，其特征在于：步骤3.4中，各个机器人移动到新编队中的相应位置过程中，根据失效机器人的位置，采用带有避障控制的位姿移动控制方法。In a further preferred solution, the above-mentioned multi-machine formation fault-tolerant control method based on broadcast communication architecture is characterized in that: in step 3.4, each robot moves to the corresponding position in the new formation, according to the failure robot position, using a pose movement control method with obstacle avoidance control.
有益效果Beneficial effect
本发明的有益效果在于采用基于固定频道的广播式多机通信方法，解决了传统点对点通信方式下多机编队中领航机器人失效后编队通信中断问题，并以此广播式的通信架构为基础，提出了领航机器人距离最优替补容错控制方法，解决了传统点对点通信方式下领航机器人通信失效下多跟随机器人的无碰撞竞争替补问题，使得领航跟随型编队在领航机器人通信失效条件下编队仍能自主决策出新领航机器人，从而保持近似的编队队形执行预期的作业任务。与此同时该通信方法具有容易部署、可扩展性好、具有容错机制等特点，它可适用于多移动机器人的编队协作，同时也支持其他无人系统的多机通信，为无人机、空地协同等的多机通信问题提供技术支撑。The beneficial effect of the present invention is that the fixed channel-based broadcast multi-machine communication method is adopted to solve the problem of formation communication interruption after the pilot robot fails in the multi-machine formation under the traditional point-to-point communication mode, and based on this broadcast communication architecture, the proposed The optimal distance replacement fault-tolerant control method for the pilot robot solves the problem of non-collision-competitive replacement of multiple follower robots under the failure of the pilot robot communication under the traditional point-to-point communication mode, so that the leader-following formation can still make independent decisions under the condition of the pilot robot communication failure A new pilot robot is developed to maintain an approximate formation formation to perform expected tasks. At the same time, this communication method has the characteristics of easy deployment, good scalability, and fault-tolerant mechanism. It is applicable to the formation cooperation of multiple mobile robots, and also supports multi-machine communication of other unmanned systems. Provide technical support for multi-computer communication issues such as collaboration.
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
附图说明Description of drawings
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and comprehensible from the description of the embodiments in conjunction with the following drawings, wherein:
图1是基于广播式通信的多机器人无线通信网络架构图。其中：1-1为无线收发模块，1-2为移动机器人处理器，1-3为领航机器人，1-4、1-5、1-6为跟随机器人。Figure 1 is a multi-robot wireless communication network architecture diagram based on broadcast communication. Among them: 1-1 is a wireless transceiver module, 1-2 is a mobile robot processor, 1-3 is a pilot robot, 1-4, 1-5, 1-6 are follower robots.
图2是基于领航跟随型的多移动机器人编队场景图(以三角形编队为例)。其中：2-1表示领航机器人，2-4、2-5为两个跟随机器人。2-2、2-3分别是两个跟随机器人对应的理想位置的虚拟机器人。Fig. 2 is a scene diagram of a multi-mobile robot formation based on the leader-following type (taking a triangular formation as an example). Among them: 2-1 represents the leading robot, 2-4, 2-5 are two following robots. 2-2 and 2-3 are respectively two virtual robots following the ideal positions corresponding to the robots.
图3是不同规模下领航跟随型编队预设队形示意图。其中：3-1为领航机器人，3-2为跟随机器人。Figure 3 is a schematic diagram of the preset formations of the pilot-following formations at different scales. Among them: 3-1 is the leading robot, 3-2 is the following robot.
图4是领航机器人通信失效条件下替补容错控制方法验证实验，其中：L为领航机器人，F1，F2，F3为跟随机器人。Fig. 4 is the verification experiment of the substitute fault-tolerant control method under the condition of communication failure of the pilot robot, where: L is the pilot robot, F1 , F2 , and F3 are the follower robots.
图5是领航机器人通信失效条件下替补容错控制方法实验轨迹，其中：Leader轨迹为领航机器人运行轨迹，F1，F2，F3实际轨迹为跟随机器人运行轨迹。Figure 5 is the experimental trajectory of the substitute fault-tolerant control method under the condition of communication failure of the leader robot, in which: the leader trajectory is the trajectory of the leader robot, and the actual trajectory of F1 , F2 , and F3 is the trajectory of the follower robot.
具体实施方式Detailed ways
本发明是从领航跟随型编队通信角度入手，采用基于固定频段的广播式通信架构，，并在该通信技术基础上，提出一种较为通用的多机编队容错控制方法，以解决领航机器人通信失效情况下的多机编队容错控制问题。The present invention starts from the perspective of pilot-following formation communication, adopts a broadcast communication architecture based on a fixed frequency band, and on the basis of this communication technology, proposes a relatively general multi-machine formation fault-tolerant control method to solve the communication failure of pilot robots The fault-tolerant control problem of multi-machine formation under the situation.
基于广播式通信架构的领航跟随型多机编队容错控制系统包括：移动机器人全局定位系统、基于广播式通信架构的无线网络和多个移动机器人，参见图1。其中移动机器人全局定位系统可采用的全局定位方法很多，本发明中选用基于超声波信标的室内全局定位方法，具体可见中国专利申请：一种基于室内全局定位的多移动机器人编队控制方法(申请号：201711125796.3)。The pilot-following multi-machine formation fault-tolerant control system based on broadcast communication architecture includes: mobile robot global positioning system, wireless network and multiple mobile robots based on broadcast communication architecture, see Figure 1. Wherein the global positioning method that mobile robot global positioning system can adopt is a lot, selects the indoor global positioning method based on ultrasonic beacon among the present invention, specifically see Chinese patent application: A kind of multi-mobile robot formation control method based on indoor global positioning (application number: 201711125796.3).
基于广播式通信架构的无线网络包括：固定通信频道、信息收发单元。The wireless network based on the broadcast communication architecture includes: a fixed communication channel and an information sending and receiving unit.
固定通信频道是根据各机器人信息交互需求而人为设定的某一固定频段。The fixed communication channel is a fixed frequency band artificially set according to the information interaction requirements of each robot.
信息收发单元采用无线收发模块(1-1)与各个移动机器人的处理器(1-2)相连，是移动机器人之间相互通信的桥梁，领航机器人(1-3)和跟随机器人(1-4、1-5、1-6)均搭载信息收发单元，领航机器人默认为发送模式，跟随机器人默认为接收模式。The information sending and receiving unit uses a wireless transceiver module (1-1) to connect with the processors (1-2) of each mobile robot, and is a bridge for mutual communication between mobile robots. The leading robot (1-3) and the following robot (1-4 , 1-5, 1-6) are equipped with information sending and receiving units, the leader robot defaults to the sending mode, and the follower robot defaults to the receiving mode.
基于广播式通信架构的领航跟随型多机编队容错控制方法具体实现步骤如下：The specific implementation steps of the pilot-following multi-machine formation fault-tolerant control method based on the broadcast communication architecture are as follows:
Step1：移动机器人的初始化Step1: Initialization of the mobile robot
移动机器人的初始化主要包括：分配领航、跟随两种移动机器人角色，根据编队任务以及机器人数量预设编队队形图案(包括当前机器人数量的编队队形图案和少于当前机器人数量的编队队形图案)，初始化移动机器人定位系统。The initialization of the mobile robot mainly includes: assigning two mobile robot roles to lead and follow, and preset the formation pattern according to the formation task and the number of robots (including the formation pattern with the current number of robots and the formation pattern with less than the current number of robots). ), initialize the mobile robot positioning system.
Step2：构建基于广播式通信架构的多移动机器人通信网络Step2: Construct a multi-mobile robot communication network based on broadcast communication architecture
1)各无线收发单元参数设定：为了实现机器人之间的通信，无线模块需要设置相同的通讯频率、波特率，传输速率、收发地址等参数。1) Parameter setting of each wireless transceiver unit: In order to realize communication between robots, the wireless module needs to set the same parameters such as communication frequency, baud rate, transmission rate, and transceiver address.
2)设定移动机器人收发数据帧头：依据机器人不同的角色和ID设定机器人交互过程中不同的数据帧头。2) Set the mobile robot to send and receive data frame headers: set different data frame headers during the robot interaction process according to the different roles and IDs of the robots.
3)设置各机器人默认通信方式：正常情况下编队系统设置为单工通信，配置领航机器人的信息收发单元为发送模式，各跟随机器人为接收模式。3) Set the default communication mode of each robot: under normal circumstances, the formation system is set to simplex communication, and the information sending and receiving unit of the leading robot is configured as the sending mode, and each follower robot is used as the receiving mode.
Step3：理想工况下的领航跟随型多机编队成形与保持Step3: Formation and maintenance of pilot-following multi-aircraft formation under ideal conditions
1)根据移动机器人车体结构及驱动方式，建立移动机器人运动学模型，并依此构建多移动机器人编队的运动学模型。1) Establish the kinematics model of the mobile robot according to the body structure and driving mode of the mobile robot, and build the kinematics model of the multi-mobile robot formation based on this.
2)通过室内全局定位系统，获取各机器人实时位姿信息，利用广播式通信架构，领航机器人将位姿信息实时发送给跟随机器人。2) Through the indoor global positioning system, the real-time pose information of each robot is obtained, and the leading robot sends the pose information to the follower robot in real time by using the broadcast communication architecture.
3)跟随机器人根据预设的多机编队队形几何信息，结合领航机器人的实时位置计算自身的理想位姿；然后，跟随机器人依据自身的实时位姿和理想位姿，计算得到各自的位姿跟踪误差。3) The follower robot calculates its own ideal pose according to the preset geometric information of the multi-machine formation, combined with the real-time position of the pilot robot; then, the follower robot calculates its own pose according to its own real-time pose and ideal pose tracking error.
4)选用已有的多机编队控制方法，如：PID控制、滑膜控制法等，作为跟随机器人的运动控制器，并依此来控制跟随机器人的位姿跟踪误差趋近于0，从而实现整个多机编队系统形成和保持既定的编队队形来完成作业任务。4) Select the existing multi-machine formation control method, such as: PID control, synovial film control method, etc., as the motion controller of the following robot, and control the pose tracking error of the following robot to approach 0, so as to realize The entire multi-machine formation system forms and maintains a predetermined formation formation to complete the task.
Step4：领航机器人通信失效条件下的距离最优替补容错控制方法Step4: The distance-optimal substitute fault-tolerant control method of the pilot robot under the condition of communication failure
当领航机器人发生通信失效时，领航机器人不能将自身的位姿信息发送到设定频道内，同时跟随机器人在该通信频道下也不能接收到领航机器人的位姿信息。在固定通信频段的广播式通信架构的基础上，编队系统随即根据距离最优替补容错控制方法自主决策出新的领航机器人，从而保持近似的编队队形执行预期的作业任务，具体步骤如下：When the communication failure of the leading robot occurs, the leading robot cannot send its own pose information to the set channel, and the follower robot cannot receive the pose information of the leading robot under this communication channel. On the basis of the fixed communication frequency band broadcast communication architecture, the formation system then independently decides a new pilot robot according to the distance optimal substitute fault-tolerant control method, so as to maintain an approximate formation formation to perform the expected task. The specific steps are as follows:
4.1当领航机器人检测到自身通信失效后，其立即退出编队任务并停止于当前位置；跟随机器人连续三个工作周期内未接收到领航机器人发送的位姿信息，则判定为领航机器人通信发生故障。4.1 When the lead robot detects that its own communication fails, it immediately exits the formation task and stops at the current position; if the follower robot does not receive the pose information sent by the lead robot within three consecutive working cycles, it is determined that the lead robot communication failure.
4.2在领航机器人通信失效条件下，各跟随机器人运用距离最优替补容错控制方法计算各自对应的距离函数Si：首先，根据跟随机器人当前位置与失效领航机器人在通信失效前最后一次广播的自身位置，计算当前队形下各跟随机器人与失效领航机器人之间的距离di；然后，依据当前剩余跟随机器人的数量，从多机编队预设队形库(图3)中选择机器人数量相匹配的新编队队形，并计算各跟随机器人作为新编队队形的领航机器人条件下队形变换的代价函数Li；最后，各跟随机器人根据各自对应的di和Li计算得到其距离函数Si，并依据距离函数最小原则遴选出新编队队形下的新领航机器人。4.2 Under the condition of communication failure of the pilot robot, each follower robot uses the distance optimal substitute fault-tolerant control method to calculate its corresponding distance function Si : First, according to the current position of the follower robot and the position of the failed pilot robot last broadcast before the communication failure , calculate the distance di between each follower robot and the failed leader robot in the current formation; then, according to the current number of remaining follower robots, select the number of robots that match the number of robots from the multi-machine formation preset formation library (Figure 3). New formation formation, and calculate the cost function Li of formation transformation under the condition that each follower robot is the leader robot of the new formation formation; finally, each follower robot calculates its distance function Si according to its corresponding di and Li , and select the new leader robot under the new formation according to the principle of minimum distance function.
4.3在选择出新领航机器人后，运用距离最优替补容错控制方法实现新领航机器人和其他跟随机器人到达各自对应的新位置：新领航机器人利用自身运动控制器和现有避碰方法自主移动到失效领航机器人所在位置点；同时，其他跟随机器人利用自身运动控制器移动到由所选新队形和新领航机器人的代价函数所确定的各自对应的新位置点，从而形成领航机器人通信失效条件下的新编队队形。4.3 After the new leader robot is selected, use the distance optimal substitute fault-tolerant control method to realize the new leader robot and other follower robots reach their corresponding new positions: the new leader robot uses its own motion controller and the existing collision avoidance method to autonomously move to failure At the same time, other follower robots use their own motion controllers to move to the corresponding new positions determined by the selected new formation and the cost function of the new leader robot, thus forming the communication failure condition of the leader robot. New formation formation.
4.4在新编队队形中，新领航机器人无线收发模块自动切换为发送模式，其他跟随机器人继续保持接收模式，通信架构重新恢复为广播式，其他跟随机器人开始接收新领航机器人发送的实时位姿，从而实现以新领航跟随编队队形来继续执行既定的作业任务。4.4 In the new formation, the wireless transceiver module of the new leader robot will automatically switch to the sending mode, the other following robots will continue to maintain the receiving mode, the communication structure will return to the broadcast mode, and the other following robots will start to receive the real-time pose sent by the new leader robot. Thereby, it is realized to continue to execute the predetermined operation task with the new pilot follow formation formation.
在上述4.2步骤中，依据距离最优替补容错控制方法，计算各跟随机器人距离函数Si的具体方法解释如下：In the above step 4.2, according to the distance optimal substitute fault-tolerant control method, the specific method of calculating the distance function Si of each following robot is explained as follows:
①各跟随机器人在自主决策新领航机器人的过程中，需要参照领航机器人通信失效前的队形和不同规模下领航跟随型编队预设队形，计算各跟随机器人距离函数Si① In the process of independent decision-making of each follower robot, it is necessary to calculate the distance function Si
Si＝di+LiSi =di +Li
其中di表示该跟随机器人距失效领航机器人之间的距离；Li表示在该跟随机器人作为新领航机器人条件下队形变换的代价函数。Among them, di represents the distance between the follower robot and the failed leader robot; Li represents the cost function of formation transformation under the condition that the follower robot acts as a new leader robot.
首先，计算跟随机器人距失效领航机器人之间的距离di。利用跟随机器人Fi当前的位置坐标与领航机器人通信失效前发送的位置坐标，计算跟随机器人Fi距离失效领航机器人之间的距离。First, calculate the distance di between the following robot and the failed leader robot. Using the current position coordinates of the following robot Fi and the position coordinates sent by the pilot robot before the communication failure, calculate the distance between the following robot Fi and the failed pilot robot.
然后，选择领航机器人通信失效后的新队形。领航机器人通信失效后，编队队形中机器人数量减少，根据领航机器人通信失效后剩余跟随机器人的数量，再结合不同规模下领航跟随型编队预设队形(图3)选择出机器人数量上相匹配的新队形。Then, select the new formation after the communication failure of the lead robot. After the pilot robot communication fails, the number of robots in the formation decreases. According to the number of remaining follower robots after the pilot robot communication fails, combined with the preset formation of the pilot follower formation under different scales (Figure 3), select the number of robots that match new formation.
最后，计算跟随机器人Fi作为新领航机器人条件下队形变换的代价函数Li。领航机器人通信失效后，编队队形中机器人数量减少，需要选举出新的领航机器人去填补空缺位置，本发明就以各跟随机器人移动到待填补空缺位置的最小代价函数为队形变换的依据。设函数l(Fi,Bj)为机器人Fi到待填补空缺位置Bj的距离，根据剩余跟随机器人与待填补剩余位置可得n×n阶矩阵：Finally, calculate the following robot Fi as the cost function Li of formation transformation under the condition of the new leader robot. After the leader robot communication fails, the number of robots in the formation decreases, and a new leader robot needs to be elected to fill the vacant position. The present invention takes the minimum cost function of each follower robot moving to the vacant position to be filled as the basis for formation transformation. Let the function l(Fi , Bj ) be the distance from the robot Fi to the vacant position Bj to be filled, and an n×n order matrix can be obtained according to the remaining following robots and the remaining positions to be filled:
定义代价函数L：Define the cost function L:
当跟随机器人Fi占领队形中Bj位置时xij＝1，否则xij＝0；因为每个机器人最终只存在一个预留位置，并且所有预留位置占满机器人，所以当不同的位置分配代价函数L相同的情况下，则随机选择一种分配方案。队形变换过程中根据预设队形可能出现多种变换方式，而代价函数L则表示在各个移动机器人需调整位置的距离之和的最小值，根据代价函数L选择出最优的队形变换方式，该种变换方式可以保证各个机器人需要移动的距离之和最短。When following robot Fi occupies position Bj in the formation, xij = 1, otherwise xij = 0; because each robot finally has only one reserved position, and all reserved positions are occupied by robots, so When the allocation cost function L is the same for different locations, an allocation scheme is randomly selected. In the formation transformation process, there may be multiple transformation methods according to the preset formation, and the cost function L represents the minimum value of the sum of the distances that need to be adjusted by each mobile robot, and the optimal formation transformation is selected according to the cost function L This transformation method can ensure that the sum of the distances that each robot needs to move is the shortest.
②各个跟随机器人计算完自身距离函数Si后，按照ID顺序依次切换通信方式为发送模式，将自身ID和该位置下的距离函数Si发送通信频道当中，随即转换为接收模式，接收其他跟随机器人的ID和Si'，直到所有跟随机器人信息收发完毕。② After each follower robot calculates its own distance function Si , it switches the communication mode to the sending mode in sequence according to the ID order, and sends its own ID and the distance function Si at this position to the communication channel, and then switches to the receiving mode to receive other following robots. The robot's ID and Si' until all the following robot information is sent and received.
③各跟随机器人将自身距离函数Si与其它各机器人距离函数Si'进行对比，如果出现比自身距离函数小的其他机器人，则继续担任跟随机器人；如果自身Si最小，则该跟随机器人作为新的领航机器人。③ Each follower robot compares its own distance function Si with the distance function Si' of other robots, if there are other robots smaller than its own distance function, it will continue to act as a follower robot; if its own Si is the smallest, the follower robot will act as New navigator bot.
下面结合领航机器人通信失效条件下替补容错控制方法验证实验，以三角形多机编队为例，对该发明的具体实施方式说明如下：In the following, combined with the verification experiment of the substitute fault-tolerant control method under the communication failure condition of the pilot robot, taking the triangular multi-machine formation as an example, the specific implementation of the invention is described as follows:
1、移动机器人的初始化1. Initialization of the mobile robot
移动机器人初始化主要包括：初始化编队图形信息，如图3所示不同规模下领航跟随型编队预设队形示意图，配置多机之间的无线通讯单元等。以图2所示的三角形多机编队为例进行说明，初始化多机编队的几何图形：领航机器人(2-1)为三角形队形的顶点，跟随机器人(2-4、2-5)为三角形编队底边的两个端点，而且分别与领航机器人距离为L、夹角为The initialization of the mobile robot mainly includes: initializing the graphic information of the formation, as shown in Figure 3, the schematic diagram of the preset formation of the pilot-following formation at different scales, configuring the wireless communication unit between multiple machines, etc. Taking the triangular multi-machine formation shown in Figure 2 as an example, the geometry of the multi-machine formation is initialized: the leading robot (2-1) is the apex of the triangular formation, and the follower robots (2-4, 2-5) are the triangle The two endpoints of the bottom edge of the formation, and the distance from the pilot robot is L and the included angle is
2、构建基于广播式通信架构的多移动机器人通信网络2. Construct a multi-mobile robot communication network based on broadcast communication architecture
1)各无线收发单元参数设定：以本系统为例对无线模块参数进行设置，通信频率：2.4GHz；发送接收地址：0x34 0x43 0x10 0x10 0x01；波特率：115200；空中传输速率2MHz/s。1) Parameter setting of each wireless transceiver unit: Take this system as an example to set the parameters of the wireless module, communication frequency: 2.4GHz; sending and receiving address: 0x34 0x43 0x10 0x10 0x01; baud rate: 115200; air transmission rate 2MHz/s .
2)设定移动机器人收发数据帧头：同时通信过程中移动机器人个数据帧头含义如表所示：2) Set the mobile robot to send and receive data frame headers: the meaning of the data frame headers of the mobile robot during the communication process is shown in the table:
表1多移动机器人通信各数据帧头Table 1 Data frame headers of multi-mobile robot communication
3)设置各机器人默认工作方式：配置领航机器人的信息收发单元为发送状态，跟随机器人为接收状态；3) Set the default working mode of each robot: configure the information sending and receiving unit of the pilot robot to be in the sending state, and the follower robot to be in the receiving state;
3、理想工况下的领航跟随型多机编队成形与保持3. Formation and maintenance of pilot-following multi-aircraft formation under ideal conditions
基于超声波信标的室内全局定位系统，可以实时获得领航机器人(2-1)、跟随机器人(2-4、2-5)的当前位姿信息，且该位姿包括位置坐标和方向角信息。The indoor global positioning system based on the ultrasonic beacon can obtain the current pose information of the leading robot (2-1) and the following robots (2-4, 2-5) in real time, and the pose includes position coordinates and orientation angle information.
以跟随机器人(2-4)为例进行说明，假设当前时刻领航机器人(2-1)位姿为(x1 y1θ1)T，跟随机器人(2-4)位姿(x2 y2 θ2)T。若要保持既定边长为L的三角形编队队形，则需要实时跟踪虚拟机器人(2-2)，而虚拟机器人(2-2)的位姿坐标可计算如下：Take the follower robot (2-4) as an example, assuming that the lead robot (2-1) pose is (x1 y1 θ1 )T at the current moment, and the follower robot (2-4) pose (x2 y2 θ2 )T . To maintain a triangular formation with a predetermined side length L, it is necessary to track the virtual robot (2-2) in real time, and the pose coordinates of the virtual robot (2-2) can be calculated as follows:
通过基于固定通信频段的多机通信网络，跟随机器人收到领航机器人的位姿信息后，依据预定队形计算其对应的虚拟机器人(2-2)的位姿坐标，可计算得到跟随机器人(2-4)的跟踪位姿误差(xe ye θe)T，其中，(xe ye θe)T＝(x2-xr y2-yr θ2-θr)T。根据各跟随机器人的跟踪位姿误差来采用相对应的运动控制器。Through a multi-machine communication network based on a fixed communication frequency band, after the follower robot receives the pose information of the leader robot, it calculates the pose coordinates of its corresponding virtual robot (2-2) according to the predetermined formation, and the follower robot (2-2) can be calculated. -4) tracking pose error (xe ye θe )T , where (xe ye θe )T = (x2 -xr y2 -yr θ2 -θr )T . According to the tracking pose error of each following robot, the corresponding motion controller is adopted.
根据运动控制器求解编队所需的运动控制率，并设计控制率中的相关参数；再与当前速度信息结合，求出采样周期内每个跟随机器人保持编队队形所需的线速度和角速度。跟随机器人按照所得的线速度和角速度进行运动，确保各跟随机器人的跟踪位姿误差趋近于0，使多移动机器人在保持编队队形的条件下执行作业任务。Solve the motion control rate required by the formation according to the motion controller, and design the relevant parameters in the control rate; then combine with the current speed information to find the linear velocity and angular velocity required for each follower robot to maintain the formation formation within the sampling period. The following robots move according to the obtained linear velocity and angular velocity to ensure that the tracking pose error of each following robot is close to 0, so that multiple mobile robots can perform tasks while maintaining formation formation.
4、领航机器人通信失效条件下的距离最优替补容错控制4. Distance-optimal substitute fault-tolerant control of the pilot robot under the condition of communication failure
对编队系统整个运行过程中由室内全局定位系统记录的实时坐标点进行分析，图4为领航机器人通信失效条件下替补容错控制方法验证实验，图5为领航机器人L和跟随机器人F1，F2，F3的实际运行轨迹，具体实验过程如下：Analyze the real-time coordinate points recorded by the indoor global positioning system during the entire operation of the formation system. Figure 4 shows the verification experiment of the substitute fault-tolerant control method under the condition of communication failure of the pilot robot. Figure 5 shows the pilot robot L and the following robots F1 , F2 , the actual trajectoryof F3, the specific experimental process is as follows:
1)如图4中轨迹所示，跟随机器人F1，F2，F3在领航机器人L的带领下形成边长为的菱形编队，0-15s编队系统正常运行。当15s时领航机器人L通信突然失效，退出编队系统并停止到当前位置。各跟随机器人在无线模块工作频率下的三个工作周期没有接收到领航机器人的位姿信息，判定领航机器人通信发生故障。1) As shown in the trajectory in Figure 4, the following robots F1 , F2 , and F3 are led by the leader robot L to form a side length of The diamond formation, 0-15s formation system is in normal operation. When the communication of the leading robot L suddenly fails at 15s, it exits the formation system and stops to the current position. Each follower robot did not receive the pose information of the leader robot in three working cycles under the working frequency of the wireless module, and it was determined that the communication failure of the leader robot.
2)编队队形中机器人数量由4个减少为3个，结合不同规模下领航跟随型编队预设队形，选择机器人数量为3的新型三角形编队，然后各跟随机器人利用距离最优替补容错控制方法计算出各跟随机器人距离函数Si，经过对比得出跟随机器人F3为距离函数最优者，跟随机器人F3竞争成为新的领航机器人。2) The number of robots in the formation is reduced from 4 to 3, combined with the preset formations of the pilot-following formation at different scales, a new triangular formation with 3 robots is selected, and then each follower robot uses the distance optimal substitute fault-tolerant control The method calculates the distance function Si of each follower robot. After comparison, it is concluded that the follower robot F3 is the best distance function, and the follower robot F3 competes to become the new leader robot.
3)跟随机器人F3作为新的领航机器人在15-40s期间去替补失效领航机器人并达到失效领航机器人所在位置点，替补期间根据失效机器人L的位姿点采用规划轨迹的方式进行避碰，跟随机器人F1和F2按照最小代价函数的约束下进行队形变换。3) Follow the robot F3 as the new leader robot to replace the failed leader robot during 15-40s and reach the location of the failed leader robot. During the replacement period, use the planned trajectory according to the position and orientation of the failed robot L to avoid collisions, follow Robots F1 and F2 perform formation transformation under the constraints of the minimum cost function.
4)最终形成以跟随机器人F3作为新领航者的三角形编队，新的领航机器人F3将无线收发单元切换为发送模式，带领跟随机器人F1和F2继续执行编队既定的作业任务。4 ) Finally, a triangular formation is formed with the following robot F3 as the new leader.The new leader robot F3 switches the wireless transceiver unit to the sending mode, and leads the following robots F1 andF2 to continue to perform the predetermined tasksof the formation.
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在不脱离本发明的原理和宗旨的情况下在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as limitations to the present invention. Variations, modifications, substitutions, and modifications to the above-described embodiments are possible within the scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201910833832.4ACN110398975A (en) | 2019-09-04 | 2019-09-04 | A pilot-following multi-machine formation fault-tolerant control method based on broadcast communication architecture |
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| CN201910833832.4ACN110398975A (en) | 2019-09-04 | 2019-09-04 | A pilot-following multi-machine formation fault-tolerant control method based on broadcast communication architecture |
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| CN201910833832.4APendingCN110398975A (en) | 2019-09-04 | 2019-09-04 | A pilot-following multi-machine formation fault-tolerant control method based on broadcast communication architecture |
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