FORMATION AND ZONING CONTROL OF MULTI-ROBOT SYSTEMS

被引：5

作者：

Chen, Peter C. Y. ^{[1
]}

Wan, Jie ^{[1
]}

Poo, Aun N. ^{[1
,2
,3
,4
]}

Ge, Shuzhi S. ^{[5
]}

机构：

[1] Natl Univ Singapore, Dept Mech Engn, Fac Engn, Singapore, Singapore

[2] Natl Univ Singapore, BTech Programme, Singapore, Singapore

[3] Natl Univ Singapore, Ctr Intelligent Prod & Mfg Syst, Singapore, Singapore

[4] Natl Univ Singapore, Grad Sch Engn, Singapore, Singapore

[5] Natl Univ Singapore, Dept Elect & Comp Engn, Fac Engn, Singapore, Singapore

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2011年 / 26卷 / 01期

关键词：

Multi-robot system; zoning scheme; formation; attractiveness; nonsmooth analysis; MOBILE; STABILITY;

D O I：

10.2316/Journal.206.2011.1.206-3406

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we investigate the stability and attractiveness of formation control in connection with the method of artificial potential trench With the introduction of a zoning scheme and the associated zoning potential, we synthesize a control that attracts a team of robots to establish a formation, while ensuring that each robot, maintains a certain separation from its leader and avoids collision with other robots. Results from computer simulation verify and demonstrate the effectiveness of this approach to formation and zoning control of multi-robot systems.

引用

页码：35 / 48

页数：14

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