Group robot and collective movement controlling method for group robot
US10962987B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | May 31, 2017 |
| Grant date | Mar 30, 2021 |
| Priority date | — |
| Expiry date | Jan 19, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06N7/00
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A group robot and a method for controlling a collective movement of a group robot that realize a combination of autonomous distributed control and centralized control according to the environment are provided. A group robot is formed of at least two robots that have powers and autonomously move obtains mutual position information among the robots and with respect to an object that exists in a movable area of the robots, presets a virtual object temperature for the object and a virtual initial robot temperature that is lower than the virtual object temperature for the robot, calculates a virtual robot temperature, which changed by a virtual heat transfer, from the virtual object temperature, the virtual initial robot temperature, and a distance between the robot and the object, calculates virtual attractive-repulsive force from a distance between the robots to keep the distance between the robots and virtual repulsive force acting between the object and the robot from a virtual robot temperature by using a thermodynamics mathematical model, and controls a movement direction and velocity of the robot by using a sum of the virtual attractive-repulsive force and the virtual repulsive f…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.