CN107992035A - A kind of Multi Mobile Robots Formation's control method based on indoor Global localization - Google Patents
A kind of Multi Mobile Robots Formation's control method based on indoor Global localization Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The present invention provides a kind of Multi Mobile Robots Formation's control method based on indoor Global localization, it is related to robot navigation field, by the ultrasonic wave on fixed beacon and mobile beacon receiver occurs for the present invention, calculate the position coordinates of each mobile robot in movement of forming into columns, and it is derived from the real-time pose of each mobile robot, control follows the tracking pose of robot, so as to fulfill the multiple aircraft formation job task based on navigator's follower type.The present invention solves the basic orientation problem in mobile robot autonomous navigation；The localization method has the characteristics that easily deployment, simple and practical, positioning accuracy is high, scalability is good, suitable for the independent navigation of single mobile robot, it is equally applicable to the formation cooperation of multiple mobile robot, the three-dimensional coordinate positioning of unmanned systems is also supported at the same time, and enabling tool support is provided for the indoor positioning of unmanned plane, air-ground coordination etc..
Description
Technical field
The present invention relates to robot navigation field, the positioning of especially a kind of mobile robot and formation control method.
Background technology
Mobile robot as a kind of autonomous, intelligence shipping platform and carrier, suitable for investigate, tail, search for and with
The danger such as track, pollution, extreme environment.Independent navigation is that mobile robot carries out AUTONOMOUS TASK under unknown, non-structure environment
Core technology, and location technology be robot complete independent navigation task most basic link.With application comparative maturity
The outdoor positionings such as GPS, the Big Dipper are different from airmanship, and accurate indoor positioning technologies are relatively weak at present, and fire-fighting and rescue, speedily carry out rescue work
The application fields such as the disaster relief, conflict anti-terrorism, autonomous docking, cooperation carrying propose current demand to indoor positioning technologies again.
According to location technology and the difference of sensor, mobile robot indoor positioning technologies are mainly comprising reckoning, figure
Shape matches and beacon positioning.Reckoning positioning is a kind of relative positioning method based on pose recursion mode, but this method is deposited
Position error is with accumulated time the defects of；Graphic Pattern Matching localization method needs to establish global or local map according to external environment condition,
This method is larger by external environment influence, and is suitable for certainty static environment mostly；It can be provided based on beacon localization method
Stablize, accurate global absolute location information, but deployment early period of this method, later maintenance workload are larger.
At present, beacon location technology mainly includes two kinds based on wireless sensor network and ultrasonic wave in mobile robot room
Localization method.Using WLAN, ZigBee, Bluetooth etc. wireless sensor network positioning technology by signal characteristic information come
Analysis calculates the current location information of robot, which constrains from sighting distance, but positioning accuracy is relatively low；And it is based on
The beacon location technology of ultrasonic wave is with anti-electromagnetic interference capability is strong, beacon paving location is flexible, positioning accuracy is relatively high
Advantage.
Multiple aircraft formation control problem is an important branch of multiple mobile robot's technical field, it is in joint investigation, group
The military and civilian fields such as body is tailed, cooperation is rescued, cooperation carrying, sensing network have wide application background.Multiple aircraft formation
Control problem is that multiple mobile robot self-determination cooperations form an expected geometric figure to complete specific goal task, and
As keep set flight pattern constant as possible when performing job task under the conditions of unknown, non-structure environment.Asked in multiple aircraft formation
Topic from during main forming, formation holding, evolution etc., one is exactly each mobile robot needs the problem of most basic
The positioning index of itself is obtained in real time, and therefore, accurate positioning method is to realize the prerequisite of Multi Mobile Robots Formation's control
And support technology.
In Multi Mobile Robots Formation's control field, domestic current present situation is that academic research is more than practical application, and is learned
The art research overwhelming majority is all assuming that carrying out theory analysis and simulation calculation on the basis of known each robot location's coordinate, very
The application verification of positive combination robot in kind is very few, and one of major reason is just a lack of indoor global localization method and hardware
Effective support.In patent " multi-robot formation system and formation method (CN102662377A) based on wireless sensor network "
In, WLAN is established using Zigbee protocol, the intensity that signal is received according to mobile robot itself determines itself in real time
Position, this method cause multiple aircraft formation less effective because positioning accuracy is relatively low.It is " a kind of based on bluetooth communication in patent
In multi-robot formation control path tracking (CN103901889) ", system is caught using iSpace camera positions to obtain
The positional information of mobile robot is taken, and positional information is sent to by mobile robot by bluetooth, which exists logical
News are apart from the problems such as short, the cost is relatively high.
The content of the invention
For overcome the deficiencies in the prior art, for indoor mobile robot positioning accuracy is low, restricted application, and
Multi Mobile Robots Formation's control field lacks the practical problems such as effective indoor orientation method, and the present invention proposes that one kind is based on room
Multi Mobile Robots Formation's control method of interior Global localization, more moving machines are introduced by a kind of new indoor global localization method
In device people's formation control problem, it is intended to the autonomous positioning of indoor mobile robot is solved the problems, such as, so as to be multiple mobile robot's
There is provided from main forming, formation holding, automatic obstacle avoidance, evolution and target following etc. a kind of effective, real-time, accurately indoor complete
Office's localization method is supported.
The technical solution adopted by the present invention to solve the technical problems includes the following steps：
Step 1, the present invention include a set of indoor Global localization system and N number of mobile robot, wherein indoor Global localization
System includes four fixed beacons, a locating base station controller and N number of mobile beacon being mounted in mobile robot, by four
A fixed beacon is installed on the metope higher than moveable robot movement plane, and fixed beacon two is made in the case where avoiding blocking
Two is opposite and not in the same plane, and ensure that moveable robot movement region is unobstructed；
Fixed beacon is the benchmark that whole indoor locating system is used for building global coordinate system, receives each mobile beacon hair
The ultrasonic signal that goes out simultaneously records its ID code, and four fixed beacons will receive the ultrasound of all mobile beacons in receive process
Ripple signal；
Mobile beacon carries unique ID codes to identify each mobile robot, and with fixed frequency transmitting ultrasonic wave letter
Number, which is set between 10-20Hz；
The fixed beacon and mobile beacon use identical structure, comprising a square base and 5 ultrasonic waves
Four sides and center that receiver is separately mounted to square base, one of ultrasonic wave occur for generation receiver, 5 ultrasonic waves
Generation receiver is installed on base center position and receiving transducer occurs straight up, remaining four each installed in square base
The midpoint on side, and the generation receiving transducer of receiver occurs for four ultrasonic waves and square base keeps 15 degree of elevations angle to updip
Tiltedly, receiver occurs for ultrasonic wave to realize that the omnidirectional of beacon sends and receives, while each mobile beacon is equipped with angular pose and passes
Sensor, can dynamically measure the drift angle information of mobile robot, and mobile beacon and fixed beacon have each unique ID identification codes,
A whole set of alignment system measures the position coordinates of all mobile beacons at the same time, in the overlay area of alignment system, alignment system
All mobile beacons are measured in real time using fixed beacon, so as to meet in multiple aircraft formation campaign to each mobile machine
The position coordinates of people calculates demand；
Locating base station controller is the master controller of whole indoor Global localization system, its signal is covered in localization region
All fixed beacons and mobile beacon；
Step 2, indoors in Global localization system initialization process, on the basis of ground to the height of each fixed beacon into
Rower is determined, and selects any of which fixed beacon to establish three as X-axis using the underface of adjacent any fixed beacon as Z axis
Dimension coordinate system, other each fixed beacons determine the position coordinates of remaining fixed beacon in a coordinate system on the basis of the coordinate system,
After the completion of whole coordinate system is established, setting fixed beacon is reception pattern；
Step 3, using trilateration calculate the position coordinates of mobile beacon：Fixed beacon receives mobile beacon
Ultrasonic signal and record receive time point of the signal；Locating base station controller is each solid by calculating mobile beacon arrival
Determine the time interval of beacon, the air line distance calculated according to this between the mobile beacon and four fixed beacons is respectively d1、d2、
d3、d4, after the ultrasonic signal of a certain mobile beacon transmitting is received by the fixed beacon of 3 or more than 3, base station control
Positional information of the mobile beacon in global coordinate system is calculated by trilateration in device；
Detailed calculation procedure is：Assuming that alignment system is in initial alignment, optional 3 from 4 fixed beacons, you can
The coordinate of No. 1 fixed beacon, No. 2 fixed beacons and No. 3 fixed beacons is respectively (0,0, z1)、(a,0,z2)、(0,b,z3), when
When this 3 fixed beacons are respectively received the ultrasonic signal of mobile beacon transmission, according to trilateration Computing Principle, the movement
The current position coordinates (X, Y, Z) of beacon can calculate as follows：
I.e. pass through formula (1) calculate, you can obtain a certain mobile beacon in world coordinates current position coordinates (X, Y,
Z)；
Step 4, indoor Global localization system of the structure based on supersonic wave beacon, to obtain the real-time of each mobile robot
Pose；
1) indoor Global localization system is disposed：Fixed beacon is installed on four corner positions, selects two of which to fix
Beacon establishes three-dimensional system of coordinate as coordinate system benchmark, and mobile beacon is separately mounted in each mobile robot, mobile beacon
Serial communication connection mode is used with Movement Controller of Mobile Robot；Locating base station controller calculates each mobile robot in real time
Location coordinate information, and reach corresponding mobile beacon under combining drift angle information in the form of pose data packet；
2) mobile robot parsing pose data packet：Mobile robot reads mobile beacon by serial port and receives
The pose data packet arrived, is judged using parity check bit, and judges whether check bit is correct, is just when check bit is 1
Really, it is mistake that check bit, which is 0, and when check bit information is correct, then mobile robot is by correct pose coordinate information deposit
In the caching for managing device, the data type conversion for line character string format of going forward side by side is the pose data of floating type, and is stored in pose array
In, if check bit information errors, this pose coordinate information will be given up；
3) pose data store successively：With the autokinetic movement of mobile robot, its positional information carries out real-time update, leads to
Cross after locating base station controller sends to each mobile beacon and parse pose data packet, pose coordinate information follows " first in first out "
Principle of temporal sequence update successively in the pose coordinate array of Movement Controller of Mobile Robot；
Step 5：The initialization of mobile robot
The initialization of mobile robot mainly includes：Distribution navigates, follows two kinds of mobile robot roles, i.e., any selection
One artificial pathfinder of machine, other is to follow robot, sets the team that Mobile Robot Formation needs to keep according to demand
Shape pattern, configuration pilot robot follow machine artificially to receive data mode to send data mode；
Mobile Robot Motion Controller based on DSP is designed, realizes multi-robot formation job task, detailed step is as follows：
1) according to mobile robot body construction and type of drive, moveable robot movement model, and structure according to this are established
Build the kinematics model of Multi Mobile Robots Formation；
2) the indoor global localization method based on above-mentioned supersonic wave beacon, obtains pilot robot and follows robot in real time
Current pose；Further according to default multiple aircraft formation formation geological information, the ideal for respectively following robot current time is calculated
Pose, will follow robot arbitrarily to place, and then, follow robot to be calculated according to respective preferable pose and attained pose
To the tracking position and attitude error for respectively following robot；Finally, with control method, design motion controller make to follow robot with
Track position and attitude error meets required precision, and control according to this follows the tracking position and attitude error of robot to meet required precision, so as to fulfill
Multiple aircraft formation job task based on navigator's follower type.
The beneficial effects of the present invention are due to use the indoor global localization method based on supersonic wave beacon, to moving machine
Device people carries out indoor positioning service, solves the basic orientation problem in mobile robot autonomous navigation；The localization method has
There is the features such as easily deployment, simple and practical, positioning accuracy is high, scalability is good, it is suitable for the autonomous of single mobile robot
Navigation, is equally applicable to the formation cooperation of multiple mobile robot, while also supports the three-dimensional coordinate positioning of unmanned systems, for nobody
The indoor positioning of machine, air-ground coordination etc. provides enabling tool support.
Brief description of the drawings
Fig. 1 is Multi Mobile Robots Formation's system general plan figure based on indoor Global localization, wherein：1 is fixed letter
Mark, 2 be locating base station controller, and 3 be mobile robot, and 4 be the mobile beacon in each mobile robot.
Fig. 2 is supersonic wave beacon structure chart, wherein, 1., 2., 3., 4. and 5. it is fixed beacon ultrasonic wave receiving transducer
Or the ultrasonic wave of mobile beacon sends probe.
Fig. 3 is the indoor Global localization schematic diagram based on supersonic wave beacon and trilateration, wherein, d1, d2, d3 and d4
Respectively air line distance of the fixed beacon to mobile beacon.
Fig. 4 is Multi Mobile Robots Formation's scene graph based on navigator's follower type, wherein, 3-1 is pilot robot, 3-4,
3-5 follows robot for two, and 3-2,3-3 are two virtual robots for following the corresponding ideal position of robot respectively.
Embodiment
The present invention is further described with reference to the accompanying drawings and examples.
Indoor Global localization technology based on supersonic wave beacon, solves basic in mobile robot autonomous navigation field
Orientation problem；And localization method is support according to this, propose that a kind of navigator's follower type (Leader-follower) multimachine that is suitable for is compiled
The motion planning and robot control method of team's problem.The invention is mobile robot in independent navigation, automatic obstacle avoidance, target following, with
And the cooperation rescue of multirobot, cooperation the application field such as carry and provide locating scheme and support.
The present invention is started with from the angle of indoor Global localization, using supersonic wave beacon positioning method, there is provided a kind of new
Indoor orientation method；And on the basis of the location technology, propose a kind of more general multiple aircraft formation control method, it is intended to be room
Interior mobile robot autonomous navigation, Multi Mobile Robots Formation's cooperation etc. provide localization method and support.
Step 1, the present invention include a set of indoor Global localization system and N number of mobile robot, wherein indoor Global localization
System includes four fixed beacons, a locating base station controller and N number of mobile beacon being mounted in mobile robot, by four
A fixed beacon is installed on the metope higher than moveable robot movement plane, and fixed beacon two is made in the case where avoiding blocking
Two is opposite and not in the same plane, and ensure that moveable robot movement region is unobstructed；
Fixed beacon is the benchmark that whole indoor locating system is used for building global coordinate system, receives each mobile beacon hair
The ultrasonic signal that goes out simultaneously records its ID code, and four fixed beacons will receive the ultrasound of all mobile beacons in receive process
Ripple signal；
Mobile beacon carries unique ID codes to identify each mobile robot, and with fixed frequency transmitting ultrasonic wave letter
Number, which is set between 10-20Hz；
The fixed beacon and mobile beacon use identical structure, as shown in Fig. 2, wherein, it is 1., 2., 3., 4. and 5. equal
Send and pop one's head in for the ultrasonic wave of fixed beacon ultrasonic wave receiving transducer or mobile beacon, each probe is evenly arranged to realize that positioning is covered
The maximization of lid scope.Comprising a square base and 5 ultrasonic waves receivers occur for fixed beacon and mobile beacon, and 5
Four sides and center that receiver is separately mounted to square base occur for a ultrasonic wave, and receiver peace occurs for one of ultrasonic wave
Mounted in base center position and receiving transducer occurs straight up, remaining four midpoints for being installed on each side of square base,
And the generation receiving transducer of receiver occurs for four ultrasonic waves and square base keeps 15 degree of elevations angle to be inclined upwardly, ultrasonic wave hair
Raw receiver is to realize that the omnidirectional of beacon sends and receives, while each mobile beacon is equipped with angular pose sensor, can dynamic
The drift angle information of mobile robot is measured, mobile beacon and fixed beacon have each unique ID identification codes, the whole series positioning system
System measures the position coordinates of all mobile beacons at the same time, and in the overlay area of alignment system, alignment system is believed using fixed
Mark measures all mobile beacons in real time, so as to meet to sit the position of each mobile robot in multiple aircraft formation campaign
Mark calculating demand；
Locating base station controller is the master controller of whole indoor Global localization system, its signal is covered in localization region
All fixed beacons and mobile beacon, the global coordinate system established using four fixed beacons is as benchmark, according to fixed beacon
The range information that is gathered calculates position coordinates of each mobile beacon under global coordinate system, locating base station controller and by position
Confidence breath is sent to mobile beacon with data packet form, in global coordinate system where being parsed each for each mobile robot
Positional information；
Step 2, indoors in Global localization system initialization process, on the basis of ground to the height of each fixed beacon into
Rower is determined, and selects any of which fixed beacon to establish three as X-axis using the underface of adjacent any fixed beacon as Z axis
Dimension coordinate system, other each fixed beacons determine the position coordinates of remaining fixed beacon in a coordinate system on the basis of the coordinate system,
After the completion of whole coordinate system is established, setting fixed beacon is reception pattern；
Step 3, using trilateration calculate the position coordinates of mobile beacon：Fixed beacon receives mobile beacon
Ultrasonic signal and record receive time point of the signal；Locating base station controller is each solid by calculating mobile beacon arrival
Determine the time interval of beacon, the air line distance calculated according to this between the mobile beacon and four fixed beacons is respectively d1、d2、
d3、d4, after the ultrasonic signal of a certain mobile beacon transmitting is received by the fixed beacon of 3 or more than 3, base station control
Positional information of the mobile beacon in global coordinate system is calculated by trilateration in device；
Detailed calculation procedure is：Assuming that alignment system is in initial alignment, optional 3 from 4 fixed beacons, you can
The coordinate of No. 1 fixed beacon, No. 2 fixed beacons and No. 3 fixed beacons is respectively (0,0, z1)、(a,0,z2)、(0,b,z3), when
When this 3 fixed beacons are respectively received the ultrasonic signal of mobile beacon transmission, according to trilateration Computing Principle, the movement
The current position coordinates (X, Y, Z) of beacon can calculate as follows：
I.e. pass through formula (1) calculate, you can obtain a certain mobile beacon in world coordinates current position coordinates (X, Y,
Z)；
Fig. 3 is the indoor Global localization schematic diagram based on supersonic wave beacon and trilateration, wherein, d1, d2, d3 and d4
Respectively fixed beacon (1-1,1-2,1-3,1-4) arrives the air line distance of mobile beacon (4).
Based on above-mentioned supersonic wave beacon indoor orientation method, the current position coordinates of each mobile robot are obtained in real time,
And location technology is support according to this, a kind of simple, easy-to-use Multi Mobile Robots Formation's control solution is ultimately formed, specifically
Realize that step is shown in step 4；
Step 4, indoor Global localization system of the structure based on supersonic wave beacon, to obtain the real-time of each mobile robot
Pose；
1) indoor Global localization system is disposed：Fixed beacon is installed on four corner positions, present invention selection 50m2Room
It is interior, as shown in Figure 1, wherein：1 is fixed beacon, and 2 be locating base station controller, and 3 be mobile robot, and 4 be installed in each movement
Mobile beacon in robot.Selection two of which fixed beacon establishes three-dimensional system of coordinate as coordinate system benchmark, makes its complete
Cover the range of movement of mobile robot；Mobile beacon is separately mounted in each mobile robot, mobile beacon and moving machine
Device people controller uses serial communication connection mode；Locating base station controller calculates the position coordinates of each mobile robot in real time
Information, and reach corresponding mobile beacon under combining drift angle information in the form of pose data packet；
2) mobile robot parsing pose data packet：Mobile robot reads mobile beacon by serial port and receives
The pose data packet arrived, is judged using parity check bit, and judges whether check bit is correct, is just when check bit is 1
Really, it is mistake that check bit, which is 0, and when check bit information is correct, then mobile robot is by correct pose coordinate information deposit
In the caching for managing device, the data type conversion for line character string format of going forward side by side is the pose data of floating type, and is stored in pose array
In, if check bit information errors, this pose coordinate information will be given up；
3) pose data store successively：With the autokinetic movement of mobile robot, its positional information carries out real-time update, leads to
Cross after locating base station controller sends to each mobile beacon and parse pose data packet, pose coordinate information follows " first in first out "
Principle of temporal sequence update successively in the pose coordinate array of Movement Controller of Mobile Robot；
Step 5：The initialization of mobile robot
The initialization of mobile robot mainly includes：Distribution navigates, follows two kinds of mobile robot roles, i.e., any selection
One artificial pathfinder of machine, other is to follow robot, sets the team that Mobile Robot Formation needs to keep according to demand
Shape pattern, configuration pilot robot follow machine artificially to receive data mode to send data mode；
Mobile Robot Motion Controller based on DSP is designed, realizes multi-robot formation job task, detailed step is as follows：
1) according to mobile robot body construction and type of drive, moveable robot movement model, and structure according to this are established
Build the kinematics model of Multi Mobile Robots Formation；
2) the indoor global localization method based on above-mentioned supersonic wave beacon, obtains pilot robot and follows robot in real time
Current pose；Further according to default multiple aircraft formation formation geological information, the ideal for respectively following robot current time is calculated
Pose, will follow robot arbitrarily to place, and then, follow robot to be calculated according to respective preferable pose and attained pose
To the tracking position and attitude error for respectively following robot；Finally, with control method, such as：PID control, synovial membrane control methods etc., design fortune
Movement controller makes to follow the tracking position and attitude error of robot to meet required precision, and control according to this follows the tracking pose of robot to miss
Difference meets required precision, so as to fulfill the multiple aircraft formation job task based on navigator's follower type.
Succeeded the principle prototype and prototype system of realization below in conjunction with us, with the triangle multimachine of navigator's follower type
Exemplified by formation, the embodiment of the invention is described as follows：
1st, the indoor Global localization system based on supersonic wave beacon is built
The height of each fixed beacon is demarcated on the basis of ground, selects one of fixed beacon as coordinate
The Z axis of system, and to establish three-dimensional system of coordinate immediately below another fixed beacon for X-axis.As shown in figure 3, selection fixed beacon 1-1 makees
For Z axis, and to establish three-dimensional system of coordinate immediately below fixed beacon 1-2 for X-axis.Other each fixed beacons are on the basis of the coordinate system
Mutual distance measurement determine its position coordinates in a coordinate system；Mobile beacon is fixed in mobile robot, and causes movement
The central point of beacon coincides with mobile robot drive shaft midpoint；Start the locating base station controller of alignment system, set solid
Determine beacon ultrasonic wave reception pattern and mobile beacon ultrasonic wave sending mode, and whether test position fix system starts success.
Mobile beacon and the mobile robot belonging to it use serial port, the position data bag of mobile beacon
Contain：Position coordinates (the unit of X-axis:Centimetre), the position coordinates (unit of Y-axis:Centimetre), the position coordinates (unit of Z axis:Li
Rice), drift angle information (unit：Rad), check bit, mobile beacon ID etc..
After mobile robot receives the position data bag：First, it is determined that whether the check bit of the data packet is correct, if just
It is true then retain the positional information, otherwise give up；Then, the caching of mobile robot processor will be stored in by the data packet of verification
In；Finally, pose coordinate (including coordinate and drift angle information) data bit in the data packet is subjected to data type conversion, conversion
Data afterwards are individually stored in positional information array.So far, the current posture information of mobile robot reads successfully and discharges slow
Deposit.
With the autokinetic movement of mobile robot, its positional information is updated according to fixed frequency, and is controlled by base station
Device is sent to each mobile beacon, updates sequential system of these pose coordinates according to " first in first out " in place successively after parsing
In appearance coordinate array.
2nd, mobile robot initializes.
Mobile robot initialization mainly includes：Formation graphical information is initialized, configures the wireless telecommunications list between multimachine
Member etc..Illustrated by taking the triangle multiple aircraft formation shown in Fig. 4 as an example, wherein, 3-1 is pilot robot, and 3-4,3-5 are two
Robot is followed, 3-2,3-3 are two virtual robots for following the corresponding ideal position of robot respectively.
Initialize the geometric figure of multiple aircraft formation：Pilot robot (3-1) is the vertex of triangle formation, follows robot
(3-4,3-5) be triangle formation base two endpoints, and respectively with pilot robot distance be L, angle be
Configuration pilot robot and the wireless communication unit for following robot：Select wireless communication unit ESP8266 conducts
Communication module between multirobot.ESP8266 have three kinds of operating modes, that is, SoftAP patterns, Station patterns and
SoftAP+Station coexistance models.In triangle multiple aircraft formation shown in Fig. 4, pilot robot (3-1) uses SoftAP
Model Establishment WLAN, and by its positional information by WLAN to following robot to propagate；Robot is followed to adopt
With SoftAP+Station coexistance models, this coexistance model can cause whole formation work(to avoid because of pilot robot failure
The generation of energy failure phenomenon, i.e.,：If pilot robot breaks down, follow robot can be autonomous according to priority orders
SoftAP patterns are switched to, and establish LAN in this mode, so that substituting pilot robot continues to complete expected formation
Job task.
3rd, the motion controller of mobile robot is designed, realizes formation work's task of multiple mobile robot.
Indoor Global localization system based on supersonic wave beacon, can obtain pilot robot (3-1) in real time, with random device
The current posture information of people (3-4,3-5), and the pose includes position coordinates and direction angle information.
Illustrated exemplified by following robot (3-4), it is assumed that current time pilot robot (3-1) pose is (x1 y1
θ1)T, follow robot (3-4) pose (x2 y2 θ2)T.To keep the triangle flight pattern that the set length of side is L, then need
Real-time tracking virtual robot (3-2), and the pose coordinate of virtual robot (3-2) can calculate it is as follows：
According to the pose coordinate of the virtual robot (3-2), it can be calculated and follow the tracking pose of robot (3-4) to miss
Difference (xe ye θe)T, wherein, (xe ye θe)T=(x2-xr y2-yr θ2-θr)T.Missed according to the tracking pose of robot is respectively followed
Difference designs corresponding motion controller, 0 and meets that precision will to ensure respectively to follow the tracking position and attitude error of robot to level off to
Ask, so that multiple mobile robot performs job task under conditions of set geometry is kept as far as possible.
Design for Mobile Robot Motion Controller based on DSP can combine Lyapunov theorem of stability, Backstepping, anti-
The classical ways such as linearization；Motion control rate needed for forming into columns is solved according to motion controller, and designs the phase in control rate
Related parameter；Combined again with present speed information, can obtain and each follow robot to keep needed for flight pattern in the sampling period
Linear velocity and angular speed.Robot is followed to be moved according to the linear velocity and angular speed of gained so that multiple mobile robot compiles
Team's formation is maintained.
Claims (1)
1. a kind of Multi Mobile Robots Formation's control method based on indoor Global localization, it is characterised in that comprise the following steps：
Step 1, the present invention include a set of indoor Global localization system and N number of mobile robot, wherein indoor Global localization system
It is solid by four including four fixed beacons, a locating base station controller and N number of mobile beacon being mounted in mobile robot
Determine beacon to be installed on the metope higher than moveable robot movement plane, two two-phase of fixed beacon is made in the case where avoiding blocking
Pair and not in the same plane, and ensure that moveable robot movement region is unobstructed；
Fixed beacon is the benchmark that whole indoor locating system is used for building global coordinate system, receives what each mobile beacon was sent
Ultrasonic signal simultaneously records its ID code, and four fixed beacons will receive the ultrasonic wave letter of all mobile beacons in receive process
Number；
Mobile beacon carries unique ID codes to identify each mobile robot, and launches ultrasonic signal with fixed frequency, should
Fixed frequency is set between 10-20Hz；
The fixed beacon and mobile beacon use identical structure, occur comprising a square base and 5 ultrasonic waves
Four sides and center that receiver is separately mounted to square base occur for receiver, 5 ultrasonic waves, and one of ultrasonic wave occurs
Receiver is installed on base center position and receiving transducer occurs straight up, remaining four are installed on each side of square base
Midpoint, and the generation receiving transducer of receiver occurs for four ultrasonic waves and square base keeps 15 degree of elevations angle to be inclined upwardly,
Receiver occurs for ultrasonic wave to realize that the omnidirectional of beacon sends and receives, while each mobile beacon is equipped with angular pose sensing
Device, can dynamically measure the drift angle information of mobile robot, mobile beacon and fixed beacon have each unique ID identification codes, whole
Set alignment system measures the position coordinates of all mobile beacons at the same time, in the overlay area of alignment system, alignment system profit
All mobile beacons are measured in real time with fixed beacon, so as to meet in multiple aircraft formation campaign to each mobile robot
Position coordinates calculate demand；
Locating base station controller is the master controller of whole indoor Global localization system, its signal covers the institute in localization region
There are fixed beacon and mobile beacon；
Step 2, indoors in Global localization system initialization process, to the height of each fixed beacon into rower on the basis of ground
It is fixed, and select any of which fixed beacon to establish three-dimensional sit by X-axis of the underface of adjacent any fixed beacon as Z axis
Mark system, other each fixed beacons determine the position coordinates of remaining fixed beacon in a coordinate system, entirely on the basis of the coordinate system
After the completion of establishment of coordinate system, setting fixed beacon is reception pattern；
Step 3, using trilateration calculate the position coordinates of mobile beacon：Fixed beacon receives the super of mobile beacon
Acoustic signals simultaneously record the time point for receiving the signal；Locating base station controller reaches each fixed letter by calculating mobile beacon
Target time interval, the air line distance calculated according to this between the mobile beacon and four fixed beacons is respectively d1、d2、d3、
d4, after the ultrasonic signal of a certain mobile beacon transmitting is received by the fixed beacon of 3 or more than 3, base station controller
Positional information of the mobile beacon in global coordinate system is calculated by trilateration；
Detailed calculation procedure is：Assuming that alignment system is in initial alignment, optional 3 from 4 fixed beacons, you can No. 1
The coordinate of fixed beacon, No. 2 fixed beacons and No. 3 fixed beacons is respectively (0,0, z1)、(a,0,z2)、(0,b,z3), when this 3
When a fixed beacon is respectively received the ultrasonic signal of mobile beacon transmission, according to trilateration Computing Principle, movement letter
Target current position coordinates (X, Y, Z) can calculate as follows：
<mrow>
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<msup>
<mi>X</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>Y</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>Z</mi>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>1</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>=</mo>
<msup>
<msub>
<mi>d</mi>
<mn>1</mn>
</msub>
<mn>2</mn>
</msup>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<mi>X</mi>
<mo>-</mo>
<mi>a</mi>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>Y</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mrow>
<mo>(</mo>
<mi>Z</mi>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>2</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>=</mo>
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<mi>d</mi>
<mn>2</mn>
</msub>
<mn>2</mn>
</msup>
</mrow>
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<mo>(</mo>
<mi>Y</mi>
<mo>-</mo>
<mi>b</mi>
<mo>)</mo>
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<mn>2</mn>
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<mo>(</mo>
<mi>Z</mi>
<mo>-</mo>
<msub>
<mi>z</mi>
<mn>3</mn>
</msub>
<mo>)</mo>
</mrow>
<mn>2</mn>
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<mo>=</mo>
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</msup>
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</mtd>
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</mfenced>
<mo>-</mo>
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<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
Calculated by formula (1), you can obtain current position coordinates (X, Y, Z) of a certain mobile beacon in world coordinates；
Step 4, indoor Global localization system of the structure based on supersonic wave beacon, to obtain the real-time position of each mobile robot
Appearance；
1) indoor Global localization system is disposed：Fixed beacon is installed on four corner positions, selects two of which fixed beacon
Three-dimensional system of coordinate is established as coordinate system benchmark, mobile beacon is separately mounted in each mobile robot, and mobile beacon is with moving
Mobile robot controller uses serial communication connection mode；Locating base station controller calculates the position of each mobile robot in real time
Coordinate information, and reach corresponding mobile beacon under combining drift angle information in the form of pose data packet；
2) mobile robot parsing pose data packet：Mobile robot reads what mobile beacon received by serial port
Pose data packet, is judged using parity check bit, and judges whether check bit is correct, is correct, school when check bit is 1
It is mistake to test position to be 0, and when check bit information is correct, then correct pose coordinate information is stored in processor by mobile robot
In caching, the data type conversion for line character string format of going forward side by side is the pose data of floating type, and is stored in pose array, if
Check bit information errors, will give up this pose coordinate information；
3) pose data store successively：With the autokinetic movement of mobile robot, its positional information carries out real-time update, by fixed
After position base station controller sends to each mobile beacon and parses pose data packet, pose coordinate information follows the suitable of " first in first out "
Sequence principle updates in the pose coordinate array of Movement Controller of Mobile Robot successively；
Step 5：The initialization of mobile robot
The initialization of mobile robot mainly includes：Distribution navigates, follows two kinds of mobile robot roles, i.e., any selection one
The artificial pathfinder of machine, other is to follow robot, sets the formation figure that Mobile Robot Formation needs to keep according to demand
Case, configuration pilot robot follow machine artificially to receive data mode to send data mode；
Mobile Robot Motion Controller based on DSP is designed, realizes multi-robot formation job task, detailed step is as follows：
1) according to mobile robot body construction and type of drive, moveable robot movement model is established, and is built according to this more
The kinematics model of Mobile Robot Formation；
2) the indoor global localization method based on above-mentioned supersonic wave beacon, obtains pilot robot and follows working as robot in real time
Preceding pose；Further according to default multiple aircraft formation formation geological information, the preferable pose for respectively following robot current time is calculated,
Robot will be followed arbitrarily to place, and then, follow robot according to respective preferable pose and attained pose, be calculated respectively with
The tracking position and attitude error of random device people；Finally, the tracking pose for following robot is made with control method, design motion controller
Error meets required precision, and control according to this follows the tracking position and attitude error of robot to meet required precision, so as to fulfill based on neck
The multiple aircraft formation job task of boat follower type.
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