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

页码：5407 / 5412

页数：6

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