Simulation of Conflict Free Coordination and Automatic Joint Control Method for Cluster Robots
Cluster robots require efficient communication and collaborative work.However,some factors such as obstacles,the position and motion status of other robots increase the difficulty of collision-free coordination and auto-matic joint control.Therefore,a method of collision-free coordination and automatic joint control for cluster robots was proposed.Markov decision was used to describe the task selection process of the robot at first.And then,game theory was used to calculate the distance between target and robot and the time consumed by robot movement.Moreover,the utility function of robot was established to achieve task allocation.Furthermore,virtual springs were used to connect robots and establish a cluster robot network.Meanwhile,the leader-follower formation method was adopted to organize robots into a team.Finally,obstacle avoidance control strategies for robots in the workspace were designed to achieve the conflict-free coordinated joint control of cluster robots.Experimental results show that the proposed method has high control efficiency,short distance,no conflicts or collisions,which verifies its good joint control performance.
Cluster robotsUtility functionGame theoryConflict-free coordination and joint control
NETL
NSTL
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