Experiments in consensus-based distributed cooperative control of multiple mobile robots

被引：18

作者：

Cao, Yongcan ^{[1
]}

Ren, Wei ^{[1
]}

Sorensen, Nathan ^{[1
]}

Ballard, Larry ^{[1
]}

Reiter, Andrew ^{[1
]}

Kennedy, Jonathan ^{[1
]}

机构：

[1] Utah State Univ, Dept Elect & Comp Engn, Logan, UT 84322 USA

来源：

2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS I-V, CONFERENCE PROCEEDINGS | 2007年

关键词：

cooperative control; consensus; attitude alignment; formation control;

D O I：

10.1109/ICMA.2007.4304006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Distributed cooperative control strategies account for communication range and bandwidth limitations. While various distributed cooperative control strategies have been studied in theory, few of them have been systematically validated on experimental platforms. This paper demonstrates experimental results of consensus-based distributed cooperative control strategies on a multiple wheeled mobile robot platform. We first introduce our distributed cooperative control experimental platform including both hardware and software architectures. We then experimentally implement and validate a consensus-based distributed attitude alignment algorithm with multiple robots. We finally experimentally implement and validate a consensus-based distributed formation control algorithm in the cases of switching group leaders and robot elimination. The experimental results show the effectiveness of our platform and the consensus-based distributed cooperative control strategies.

引用

页码：2819 / 2824

页数：6

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