Flocking Algorithm for Multi-Robots Formation Control With a Target Steering Agent

被引：0

作者：

Lei, Bin ^{[1
]}

Li, Wenfeng ^{[1
]}

Zhang, Fan ^{[1
]}

机构：

[1] Wuhan Univ Technol, Sch Logist Engn, Wuhan 430063, Peoples R China

来源：

2008 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS (SMC), VOLS 1-6 | 2008年

关键词：

flocking; multi-robots system; distributed control; graph theory; Player/Stage;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper mainly uses flocking control algorithm to implement the "biods" model of Reynolds among multi-robots. We present two flocking algorithms: the first algorithm is a gradient-based algorithm with a velocity consensus protocol, and the second one is the main flocking algorithm for robot formation control in a free workspace with an additional target steering agent that takes the group target into account. We rind that the first algorithm only guarantees the creation of flocking in some special initial states and the second algorithm can create flocking for a generic set of initial states. Simulation results show that the proposed method ensures the group formation is stabilized to a desired shape, while all the robots' velocities and directions converge to the same.

引用

页码：3535 / 3540

页数：6

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