A sequencable flocking control system of multiple mobile robots

被引：0

作者：

Cheng Lei ^{[1
]}

Yu Hui ^{[2
]}

Wu Huaiyu ^{[1
]}

Wang Yongji ^{[2
]}

机构：

[1] Wuhan Univ Sci & Technol, Coll Informat Sci & Engn, Wuhan 430081, Peoples R China

[2] Huazhong Univ Sci & Technol, Dept Control Sci & Engn, Wuhan 430074, Peoples R China

来源：

2006 CHINESE CONTROL CONFERENCE, VOLS 1-5 | 2006年

关键词：

flocking; multi-agent; mobile robots; sequencable;

D O I：

暂无

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, a scheme for flocking control of a network of mobile robots is presented. On the basis of existed theory on flocking of mobile agents, a sequencable formation control mechanism is recommend. To transform the agent-based flocking control strategy to network of mobile robots, an overall control algorithm is devised to take into account the dynamics of nonholonomic mobile robots. Furthermore, the flocking performance analysis method based on Least Stability Time (LST) is introduced to analyze sequencable flocking system. A number of theoretical design and analysis issues associated with this framework are addressed in this paper. The simulation and experiment results demonstrate the efficacy of the proposed procedure.

引用

页码：664 / +

页数：2

共 6 条

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[4] Tanner HG, 2003, 42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, P2016
[5] Flocking with obstacle avoidance in switching networks of interconnected vehicles
Tanner, HG
[J]. 2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, : 3006 - 3011
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