Research On Task-Oriented Networked Heterogeneous Robot Group Collaborative Control Method

Heterogeneous robot group collaborative control is a highly integrated intelligent control technology and platform control technology,and is the technical basis for collaborative operation of heterogeneous robot groups.By designing effective collaborative decision-making and control strategies,under the constraints of time and space,with a maximum success rate and the lowest risk to complete the established combat missions,the realization of robotic cooperative combat efficiency is far greater than the sum of single-unit combat,which is of great theoretical value and practical significance Subject.Robot collaborative control technology is the key to exert the synergistic effect of heterogeneous robot groups,and it is also the top priority to ensure its ability to perform tasks in a highly confrontational and highly uncertain battlefield environment.Considering the coordination of heterogeneous robot group collaboration systems in multiple dimensions such as time,space,mode,task,etc.,the functions of collaborative detection and perception,collaborative adaptive networking,collaborative autonomous decision-making and distribution,collaborative guidance and control are finally formed.The main problems in the research of heterogeneous robot group collaborative system at the level of collaborative control are how to aim at the robot target tracking,the measurement noise widely existing in collaborative formation control,the uncertainty of model parameters,the poor stability of the formation configuration,and the switching formation consumption It is too long and other issues.These issues are the premise of coordinated security and operations,and are the key to ensuring the successful implementation of coordinated operations of robot groups.In this paper,for the problem of centralized multi-robot time-varying formation control under the condition of strong interference of heterogeneous robot groups and limited communication bandwidth,a multi-robot adaptive finite-time formation tracking control algorithm considering quantization input is designed.First,non-integrity constraints are targeted.The robot kinematics model solves the problem of non-integrity constraints of multi-robots by using a transfer function;for the problem of strong interference and limited communication bandwidth,a hybrid quantizer with integrated average quantization and hysteresis quantization characteristics is designed to build a system that includes environmental interference,Quantify the input autopilot dynamics,and finally eliminate the impact of quantization through a special conversion function.Secondly,based on the backstepping method and adaptive finite time stability theory,an adaptive finite time control for formation tracking of heterogeneous robot groups is established.Combined with the given time-varying formation style command,the virtual control quantity of the robot displacement loop is designed to generate the desired linear velocity and heading angle command;the stability analysis proves that the trajectory tracking error can converge to an adjustable within a limited time Within a small range towards the origin Parameter uncertainty and solve the problem of robot formation takes too long.Aiming at the target confrontation tracking problem of heterogeneous robot groups,a multi-robot confrontation tracking theory and algorithm based on the Lyapunov guidance vector field is constructed to realize the control of the robot's direction and phase,so that the multi-robots track the target with a fixed confrontation radius,ensuring the robot to the target.Continuous tracking.