阅读说明：本技术 群体机器人分布式围捕控制方法及系统 (Distributed enclosure control method and system for group robots ) 是由 李文姬 蔡堉伟 范衠 王诏君 于 2021-07-12 设计创作，主要内容包括：本发明涉及机器人技术领域,具体涉及一种群体机器人分布式围捕控制方法及系统,所述方法包括：群体中的机器人利用自身携带的视觉传感器进行目标检测；若群体中的机器人检测到目标,则该机器人利用自身携带的视觉传感器和距离传感器探测得到该机器人当前的第一位置信息和第二位置信息；根据第一位置信息和第二位置信息确定所述机器人对目标进行围捕的围捕形态,并根据所述围捕形态向目标移动；在机器人向目标移动过程中,利用自身携带的视觉传感器和距离传感器实时探测得到该机器人的第二位置信息和第三位置信息,根据实时探测得到的第二位置信息和第三位置信息控制所述机器人进行避障；本发明能够在无通信的环境下实现对目标的分布式围捕。(The invention relates to the technical field of robots, in particular to a distributed capture control method and a distributed capture control system for swarm robots, wherein the method comprises the following steps: the robots in the group use the self-carried vision sensor to detect the target; if the robots in the group detect the target, the robots detect the current first position information and second position information of the robots by using the vision sensors and the distance sensors carried by the robots; determining an enclosing form of the robot for enclosing a target according to the first position information and the second position information, and moving to the target according to the enclosing form; in the process that the robot moves towards a target, a vision sensor and a distance sensor carried by the robot are used for detecting in real time to obtain second position information and third position information of the robot, and the robot is controlled to avoid obstacles according to the second position information and the third position information obtained by real-time detection; the invention can realize the distributed capture of the target in the environment without communication.)

1. A swarm robot distributed enclosure control method is characterized by comprising the following steps:

s100, detecting a target by using a vision sensor carried by a robot in a group;

s200, if the robots in the group detect a target, the robots detect the current first position information and second position information of the robots by using a vision sensor and a distance sensor carried by the robots;

the first position information is the relative position of the robot and the target, and the second position information is the relative position of the robot and the obstacle;

step S300, determining an enclosing form of the robot for enclosing a target according to the current first position information and the current second position information of the robot, and moving the robot to the target according to the enclosing form;

s400, in the process that the robot moves towards a target, a vision sensor and a distance sensor carried by the robot are used for detecting in real time to obtain second position information and third position information of the robot, and the robot is controlled to avoid an obstacle according to the second position information and the third position information obtained through real-time detection; the third position information is the relative position of the robot and the neighbor robot;

and S500, repeatedly executing the steps S100 to S400 until the robot moves to the enclosure form.

2. The swarm robot distributed enclosure control method of claim 1, wherein the method further comprises:

if the robots in the group do not detect the target, the robots carry out random walk;

when it is determined that the walking distance of the robot exceeds the distance threshold, step S100 is performed.

3. The swarm robot distributed enclosure control method of claim 2, wherein the method further comprises:

in the random walk process of the robot, the vision sensor and the distance sensor carried by the robot are used for detecting in real time to obtain second position information and third position information of the robot, and the robot is controlled to avoid obstacles according to the second position information and the third position information obtained through real-time detection.

4. The distributed crowd robot enclosure control method according to claim 1, wherein the step S300 comprises:

inputting the first position information and the second position information into a gene regulation network model, and determining an enclosing form of the robot for enclosing a target;

each robot moves towards the target according to the respective trapping shape.

5. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor, implements the steps of the swarm robot distributed enclosure control method of any of claims 1 to 4.

6. An electronic device, comprising:

at least one processor;

at least one memory for storing at least one program;

when executed by the at least one processor, cause the at least one processor to implement the swarm robot distributed enclosure control method of any of claims 1 to 4.

Technical Field

The invention relates to the technical field of robots, in particular to a distributed enclosure control method and system for swarm robots.

Background

Target trapping is a typical challenging research area in swarm robotic systems, which utilizes the cooperation of a large number of simple robots to achieve target trapping. The group target trapping method is widely applied to the fields of search and rescue, escort tasks, area coverage and the like. The existing target trapping method mainly comprises the following steps: leaders-follow control models, virtual structure models, behavior-based control models, and methods based on biological heuristics. The target trapping method based on biological inspiration can flexibly generate a trapping form with better adaptability and can effectively cope with unknown environmental changes and interference. One commonly used method among target trapping methods based on biological elicitation is a Gene regulatory network Model (Gene regulatory Model, GRN for short). In the GRN model, the swarm robots receive the position of a target and the information of obstacles in the environment through the upper layer of the GRN, and generate a target capture form around the target. At the lower layer of the GRN, the swarm robots move to the generated target capture shape in a self-organizing manner.

In a traditional robot enclosure control method based on a GRN model, the following problems are faced:

1. the traditional control method based on the GRN model needs to input global information to generate a target-related capture form when the surrounding of a target is carried out, so that the position of each robot and the position of the target, particularly the position of a barrier around the target, need to be known, and the input condition is strict.

2. In a conventional control method based on a GRN model, a swarm robot needs a sensor highly dependent on GPS or Ultra Wideband (UWB) for obtaining global information, and in an actual environment, especially in an environment where global information is blocked (such as an environment after a disaster), communication cannot be performed through GPS or UWB.

3. Under the environment of communication refusal, no communication or global information obstruction, the traditional control method based on the GRN model leads to communication failure between individuals, even the individuals cannot communicate with a rear director, so that the group robots cannot accurately obtain the global information of the area where the target is located, and therefore the group robots cannot complete the target capture task.

Therefore, the problems of complete rejection of communication and group robot enclosure in unknown environments are urgently to be solved.

Disclosure of Invention

The invention aims to provide a swarm robot distributed enclosure control method and a swarm robot distributed enclosure control system, which are used for solving one or more technical problems in the prior art and providing at least one beneficial selection or creation condition.

In order to achieve the purpose, the invention provides the following technical scheme:

a swarm robot distributed enclosure control method, the method comprising the steps of:

s100, detecting a target by using a vision sensor carried by a robot in a group;

s200, if the robots in the group detect a target, the robots detect the current first position information and second position information of the robots by using a vision sensor and a distance sensor carried by the robots;

the first position information is the relative position of the robot and the target, and the second position information is the relative position of the robot and the obstacle;

step S300, determining an enclosing form of the robot for enclosing a target according to the current first position information and the current second position information of the robot, and moving the robot to the target according to the enclosing form;

s400, in the process that the robot moves towards a target, a vision sensor and a distance sensor carried by the robot are used for detecting in real time to obtain second position information and third position information of the robot, and the robot is controlled to avoid an obstacle according to the second position information and the third position information obtained through real-time detection; the third position information is the relative position of the robot and the neighbor robot;

and S500, repeatedly executing the steps S100 to S400 until the robot moves to the enclosure form.

Further, the method further comprises:

if the robots in the group do not detect the target, the robots carry out random walk;

when it is determined that the walking distance of the robot exceeds the distance threshold, step S100 is performed.

Further, the method further comprises:

in the random walk process of the robot, the vision sensor and the distance sensor carried by the robot are used for detecting in real time to obtain second position information and third position information of the robot, and the robot is controlled to avoid obstacles according to the second position information and the third position information obtained through real-time detection.

Further, the step S300 includes:

inputting the first position information and the second position information into a gene regulation network model, and determining an enclosing form of the robot for enclosing a target;

each robot moves towards the target according to the respective trapping shape.

A computer-readable storage medium, having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the distributed enclosure control method for swarm robots of any one of the above.

A swarm robot distributed enclosure control system, the system comprising:

at least one processor;

at least one memory for storing at least one program;

when the at least one program is executed by the at least one processor, the at least one processor is enabled to implement the swarm robot distributed enclosure control method of any one of the above.

The invention has the beneficial effects that: the invention discloses a distributed capture control method and a distributed capture control system for swarm robots. The swarm robots have stronger adaptability and can realize distributed capture of targets in a communication-free environment.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.

Fig. 1 is a schematic flow chart of a distributed enclosure control method for group robots in an embodiment of the present invention.

Detailed Description

The conception, specific structure and technical effects of the present application will be described clearly and completely with reference to the following embodiments and the accompanying drawings, so that the purpose, scheme and effects of the present application can be fully understood. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

Referring to fig. 1, as shown in fig. 1, a swarm robot distributed enclosure control method provided by an embodiment of the present application includes the following steps:

s100, detecting a target by using a vision sensor carried by a robot in a group;

s200, if the robots in the group detect a target, the robots detect the current first position information and second position information of the robots by using a vision sensor and a distance sensor carried by the robots;

the first position information is the relative position of the robot and the target, and the second position information is the relative position of the robot and the obstacle;

step S300, determining an enclosing form of the robot for enclosing a target according to the current first position information and the current second position information of the robot, and moving the robot to the target according to the enclosing form;

s400, in the process that the robot moves towards a target, a vision sensor and a distance sensor carried by the robot are used for detecting in real time to obtain second position information and third position information of the robot, and the robot is controlled to avoid an obstacle according to the second position information and the third position information obtained through real-time detection; the third position information is the relative position of the robot and the neighbor robot;

and S500, repeatedly executing the steps S100 to S400 until the robot moves to the enclosure form.

In some embodiments, the distance sensors adopt laser sensors, each robot can sense the relative positions of a target, an obstacle and a neighboring robot according to a visual sensor and the distance sensor carried by the robot, respective capture forms are respectively established based on the relative position information, group robots do not directly communicate with each other, and the group robots can move to the target according to the capture forms without knowing global information so as to capture the target; in the enclosure process, each robot can automatically adjust the respective enclosure form according to the target and obstacle information detected by the robot, move to the respective enclosure form under the condition of considering obstacle avoidance, emerge the enclosure behavior and finish the enclosure of the target. In the embodiment provided by the invention, the swarm robots have better adaptability and robustness to the target trapping task in the non-communication and unknown environments. The method overcomes the limitation that the traditional control method of the GRN network model based on the global information needs the global information and good communication conditions, and can realize the distributed enclosure of the group robots in the environment without communication and unknown environment.

As a further refinement of the above embodiment, the method further comprises:

step S201, if the robots in the group do not detect the target, the robots carry out random walk;

step S202, determining whether the walking distance of the robot exceeds a distance threshold, if so, executing step S100; if not, the robot continues to perform random walk.

That is, if a robot in the group does not detect a target, the robot performs random walks; when it is determined that the walking distance of the robot exceeds the distance threshold, performing step S100; namely, a vision sensor carried by the user is used for target detection; in the embodiment, the walking distance is used as the basis for program jump, and when the robot walks for a certain distance, the target detection is performed again, so that the waste of computing resources caused by real-time detection is avoided; it can be understood that, in order to ensure reasonable utilization of computing resources and avoid missing detection of the target, the distance threshold is set according to actual conditions, and cannot be too large or too small, and the size of the distance threshold should be increased as much as possible under the condition of avoiding missing detection.

As a further refinement of the above embodiment, the method further comprises:

in the random walk process of the robot, the vision sensor and the distance sensor carried by the robot are used for detecting in real time to obtain second position information and third position information of the robot, and the robot is controlled to avoid obstacles according to the second position information and the third position information obtained through real-time detection.

As a further improvement of the above embodiment, the step S300 includes:

inputting the first position information and the second position information into a Gene regulation Network model (GRN), and determining an enclosing form of the robot for enclosing a target;

each robot moves towards the target according to the respective trapping shape.

Corresponding to the method of fig. 1, an embodiment of the present invention further provides a computer-readable storage medium, where a swarm robot distributed enclosure control program is stored, and when executed by a processor, the swarm robot distributed enclosure control program implements the steps of the swarm robot distributed enclosure control method according to any one of the above embodiments.

Corresponding to the method in fig. 1, an embodiment of the present invention further provides a swarm robot distributed enclosure control system, where the system includes:

at least one processor;

at least one memory for storing at least one program;

when the at least one program is executed by the at least one processor, the at least one processor is enabled to implement the distributed enclosure control method for group robots in any one of the above embodiments.

The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.

The Processor may be a Central-Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application-Specific-Integrated-Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor is a control center of the swarm robot distributed enclosure control system, and various interfaces and lines are utilized to connect various parts of the whole swarm robot distributed enclosure control system operable device.

The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the swarm robot distributed enclosure control system by running or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart-Media-Card (SMC), a Secure-Digital (SD) Card, a Flash-memory Card (Flash-Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

While the description of the present application has been made in considerable detail and with particular reference to a few illustrated embodiments, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed that the present application effectively covers the intended scope of the application by reference to the appended claims, which are interpreted in view of the broad potential of the prior art. Further, the foregoing describes the present application in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial changes from the present application, not presently foreseen, may nonetheless represent equivalents thereto.