Experimental verification of a multi-robot distributed control algorithm with containment and group dispersion behaviors: The case of dynamic leaders

被引：9

作者：

Zhang, Hejin ^{[1
]}

Zhao, Zhiyun ^{[1
]}

Meng, Ziyang ^{[2
]}

Lin, Zongli ^{[3
]}

机构：

[1] Department of Automation, Key Laboratory for System Control and Information Processing, Shanghai Jiao Tong University, Shanghai,200240, China

[2] Access Linnaeus Centre, School of Electrical Engineering, Royal Institute of Technology, Stockholm, Sweden

[3] Charles L. Brown Department of Electrical and Computer Engineering, University of Virginia, Charlottesville,VA,22904-4743, United States

来源：

IEEE/CAA Journal of Automatica Sinica | 2014年 / 1卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Robot learning - Multi agent systems - Industrial robots - Dispersions - Distributed parameter control systems;

D O I：

10.1109/JAS.2014.7004620

中图分类号：

学科分类号：

摘要：

This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform. © 2014 Chinese Association of Automation.

引用

页码：54 / 60