Research On Formation And Formation Control Of Pipeline Inspection Robot Queue

At present,the research of multi-robot system is one of the heated topics and difficulties in the field of robotics research,researchers have produced some theoretical research results.However,in view of the actual situation of gas pipeline detection,the research on the theory and technology of multi-robot system,which uses gas pipeline detection as a new application environment,remains insufficient.It is of great scientific significance and social and economic benefits to apply multi-robot system to the research of gas pipeline inspection robot,and to carry out research on cooperative detection of multi robot in the gas pipeline environment.When a single pipeline inspection robot performs a detection task in a city underground gas pipeline network,there are problems such as complex movement mechanism,single detection task,short detection distance,long detection period and low efficiency,and the advantages of multi-robot cooperation in a complex pipeline environment are proposed.This paper is aimed at the pipeline inspection robot queue system,establishes the behavior database and relay communication mode of the system,and determines the control structure of the system.A kind of reactive control structure is presented for the single pipeline inspection robot,based on which the group architecture of the pipeline inspection robot queue system is constructed.At the same time,the paper puts forward the concrete strategy of the pipeline inspection robot queue system.Aiming at the formation and evolution of the pipeline inspection robot queue system,firstly,the formation planning of the pipeline inspection robot queue is carried out,and the formation planning contains four parts: whole expansion,local expansion,overall contraction and local contraction;secondly,comparing the efficiency of the single pipeline inspection robot and the inspection robot queue;then the best way to enter the gas pipeline is selected;finally,the specific process and method of formation and evolution of pipeline inspection robot queue are presented.This paper chooses MATLAB simulation software,establishes the communication model of pipeline inspection robot queue,establishes the simulation flow of the queue formation of pipeline inspection robot,and according to the formation and evolution method of the queue of the pipeline inspection robot queue system,carries on the numerical simulation verification to the formation and evolution of the pipeline inspection robot queue.