LMST-BASED SAFETY-PRESERVED CONSENSUS CONTROL OF MULTI-ROBOT SYSTEMS WITH KINODYNAMIC CONSTRAINTS

被引：0

作者：

Yi, Jingang ^{[1
]}

Wang, Hongpeng ^{[1
]}

Liu, Jingtai ^{[1
]}

Song, Dezhen ^{[1
]}

机构：

[1] San Diego State Univ, Dept Mech Engn, San Diego, CA 92182 USA

来源：

PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE 2008, PTS A AND B | 2009年

关键词：

MOBILE AUTONOMOUS AGENTS; COOPERATIVE CONTROL; MULTIAGENT SYSTEMS; TOPOLOGY CONTROL; COORDINATION; FLOCKING; MST;

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：

We report a local minimum spanning tree (LMST)-based consensus control of multi-robot systems. Instead of using a potential function-based approach, we propose a safety region concept for distributed collision-free control system design. The safety region design also takes a consideration of the kinematics and dynamics constraints, namely, kinodynamic constraints Of each robot. The network topology control among multiple robots is constructed by an LMST algorithm. The LMST-based topology control not only preserves the connectivity of multi-robot systems but also improves the enemy consumption and network communication quality Simulation results arc presented to validate the proposed control system design.

引用

页码：431 / 438

页数：8

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