A Self-Organized Line Marching Formation Control Algorithm

被引：0
作者：
Liu, Yu [1 ]
He, Yuheng [1 ]
Zhen, Yingnan [1 ]
Guo, Shuping [1 ]
Gao, Huanli [1 ]
Cai, He [1 ]
机构：
[1] South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510641, Peoples R China
来源：
2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) | 2021年
基金：
中国国家自然科学基金;
关键词：
kinematic robot; line marching formation; multiagent system; self-organized control algorithm; VARYING FORMATION CONTROL; MULTIAGENT SYSTEMS; ROBOTS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Most of the existing exact formation control algorithms for multiagent systems are label-specified, i.e., the desired position for each agent in the formation is pre-specified by its label. In this paper, a self-organized control algorithm is proposed for line marching formation of a team of planar kinematic robots. The desired positions for the robots in the formation are not label-specified, but determined dynamically. By constantly forming a chain of leader-follower pairs, exact formation can be achieved by pairwise leader-follower tracking. Comprehensive simulation results are provided to evaluate the performance of the proposed control algorithm.
引用
收藏
页码：5407 / 5412
页数：6
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