Fast and efficient formation flocking for a group of autonomous mobile robots

被引：0

作者：

Xiong, Naixue ^{[1
]}

Li, Yingshu ^{[1
]}

Yang, Laurence T. ^{[2
]}

Park, Jong Hyuk ^{[3
]}

Yang, Yan ^{[4
]}

Tao, Sun ^{[5
]}

机构：

[1] Georgia State Univ, Dept Comp Sci, Atlanta, GA 30303 USA

[2] St Francis Xavier Univ, Dept Comp Sci, Antigonish, NS, Canada

[3] Kyungnam Univ, Dept Comp Sci & Engn, Masan 631701, South Korea

[4] Japan Adv Inst Sci & Tech, Sch Informat Sci, Wuhan 430064, Peoples R China

[5] Wuhan Second Ship Design & Res Inst, Wuhan 430064, Peoples R China

来源：

2008 IEEE INTERNATIONAL SYMPOSIUM ON PARALLEL & DISTRIBUTED PROCESSING, VOLS 1-8 | 2008年

基金：

美国国家科学基金会;

关键词：

distributed system; mobile robots; flocking algorithm; motion theory; control and coordination;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

The control and coordination of mobile robots in groups that can freely cooperate and move on a plane is a widely studied topic in distributed robotics. In this paper, we focus on the flocking problem: there are two kinds of robots: the leader robot and the follower robots. The follower robots are required to follow the leader robot wherever it goes (following), while keeping a formation they are given in input (flocking). A novel scheme is proposed based on the relative motion theory. Extensive theoretical analysis and simulation results demonstrate that this scheme provides the follower robots an efficient method to follow the leader as soon as possible with the shortest path. Furthermore, this scheme is scalable, and the processing load for every robot is not increased with the addition of more robots.

引用

页码：3079 / +

页数：3

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