A Dynamic Leader-Follower Strategy for Multi-Robot Systems

被引：5
作者：
Li, Feng [1 ,2 ]
Ding, Yongsheng [1 ,2 ]
Hao, Kuangrong [1 ,2 ]
机构：
[1] Donghua Univ, Minist Educ, Coll Informat Sci & Technol, Shanghai 201620, Peoples R China
[2] Donghua Univ, Minist Educ, Engn Res Ctr Digitized Text & Fash Technol, Shanghai 201620, Peoples R China
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2015): BIG DATA ANALYTICS FOR HUMAN-CENTRIC SYSTEMS | 2015年
关键词：
leader selection; formation control; affection model; multi-robot system; MULTIAGENT SYSTEMS; DECISION-MAKING; EMOTIONAL MODEL; SELECTION;
D O I：
10.1109/SMC.2015.64
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
Since there is not a very suitable dynamical leader selection model for formations control of the multi-robot system, we propose an affection-based dynamic leader selection strategy. A leader selection modular is used to switch the leader autonomously according to the cognized environmental statement based on two virtual affections, disappointment and abashment. The disappointment of followers will increase with the time spending in the awful scenario. When it exceeds a certain threshold, the followers will broadcast an unsatisfied signal. The abashment value of leader changes with the unsatisfied signals received from the followers and flutters with its own status at the same time. When the abashment value goes beyond the threshold, the leader re-selection process will be triggered. The abashment threshold is determined by the theoretic calculation. Plenty of simulation results show that the multi-robot system with dynamic leader-follower strategy has more probability of getting out of the woods, and also promote the survivability rate in the leader falling situation by re-selecting a leader autonomously.
引用
收藏
页码：298 / 303
页数：6
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