Swarm-robot Group Assignment And Control For Parking Car Tasks

With the rapid development of science and technology in recent years,and the rapid development of industry,military and other areas,the group robot project has been rapidly gaining access to people's lives with its unique advantages.There are also more and more research on group robots.The application of group robot is the ultimate research of robotics,and this paper presents a new direction of the application of a population robot,and the robot parking system.The cluster robot parking system can be seen as a complex formation process,in which the robot will never be able to reach the designated position of the location,and then maintain the team's vehicle to the designated location.This paper presents a new idea of the application of the robot,and the corresponding research is carried out in the process of the robot from the chaotic distribution state to the formation of the moving team,the main contribution is the following:In the first place,according to the existing artificial moment method,a artificial moment controller is designed to enable the machine to implement the formation of the team through the artificial moment controller.And in a safe and efficient implementation of the team's self-organization.The security and stability of the system in the robot's mobile process.Secondly,a new linear assignment method is proposed to solve the problem of moving robot in group robot parking task.In this assignment method,according to the distance from the initial position of the robot to the formation of the handling formation and the distance from the initial position of the robot to the final handling point,the robot can be assigned as the basis,so that the robot can form the designated parking handling formation.It avoids the problem that no robot is assigned to affect subsequent handling tasks when only considering the distance from the initial position of the robot to the handling point.Thirdly,the manual torque motion controller is applied to the group robot automatic parking system for the first time.Based on the motion controller,the general steps and several simulations for group robots to automatically form parking formation are given.The simulation results show that the proposed method is feasible and effective.