Distributed Flocking Control of Mobile Robots by Bounded Feedback

被引：0
|
作者：
Thang Nguyen [1 ]
Thanh-Trung Han [2 ]
Hung Manh La [3 ]
机构：
[1] Cleveland State Univ, Dept Elect Engn & Comp Sci, Cleveland, OH 44115 USA
[2] Ton Duc Thang Univ, Fac Elect & Elect Engn, Ho Chi Minh City, Vietnam
[3] Univ Nevada, Dept Comp Sci & Engn, Adv Robot & Automat ARA Lab, Reno, NV 89557 USA
来源：
2016 54TH ANNUAL ALLERTON CONFERENCE ON COMMUNICATION, CONTROL, AND COMPUTING (ALLERTON) | 2016年
基金：
美国国家科学基金会;
关键词：
Flocking control; Multi-agent systems; Multi-robot systems; Cooperative control; Mobile robots; Decentralized control;
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：
Flocking control of multiple agents with their point-mass models has been extensively studied. However, flocking control of mobile robots with full dynamic models is challenging research due to nonhonolomic nature. This paper presents a novel approach to distributed flocking control of nonholonomic mobile robots by bounded feedback. The flocking control objectives include velocity consensus, collision avoidance, and cohesion maintenance among mobile robots. A flocking protocol which is based on the neighborhood information of mobile robots is constructed by means of control design. A Lyapunov-like function and graph theory are employed for convergence analysis. Simulation results are presented to illustrate the effectiveness of the proposed distributed flocking control scheme.
引用
收藏
页码：563 / 568
页数：6
相关论文
共 50 条
  • [1] Distributed Formation Control of Nonholonomic Mobile Robots by Bounded Feedback in the Presence of Obstacles
    Thang Nguyen
    La, Hung M.
    2017 IEEE INTERNATIONAL CONFERENCE ON REAL-TIME COMPUTING AND ROBOTICS (RCAR), 2017, : 206 - 211
  • [2] Distributed Cooperative Flocking Control for Multiple Mobile Robots Based on IoT
    Wang, Qiang
    Li, Aosong
    Zhu, Tian
    INTERNET AND DISTRIBUTED COMPUTING SYSTEMS, IDCS 2016, 2016, 9864 : 276 - 286
  • [3] Flocking and formation control for a group of nonholonomic wheeled mobile robots
    Pliego-Jimenez, Javier
    Martinez-Clark, Rigoberto
    Cruz-Hernandez, Cesar
    Aviles-Velazquez, Jesus David
    Flores-Resendiz, Juan Francisco
    COGENT ENGINEERING, 2023, 10 (01):
  • [4] Flocking Control of Mobile Robots via Simulated Annealing Algorithm
    Cheng, Jin
    Wang, Bin
    PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 3931 - 3935
  • [5] Distributed Control for the Flocking of Multi Nonholonomic Agent Systems with Bounded Inputs
    Elmokadem, Taha
    PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 5841 - 5846
  • [6] Flocking control for a swarm of nonholonomic mobile robots without attitude measurements
    Cetina-Denis, Juan
    Pliego-Jimenez, Javier
    Martinez-Clark, Rigoberto
    Cruz-Hernandez, Cesar
    INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, 2025,
  • [7] Sequential flocking control system for multiple mobile robots
    Engineering Research Center of Metallurgical Automation and Measurement Technology, Wuhan University of Science and Technology, Wuhan 430081, China
    不详
    不详
    Kong Zhi Li Lun Yu Ying Yong, 2008, 6 (1117-1120+1127):
  • [8] A sequencable flocking control system of multiple mobile robots
    Cheng Lei
    Yu Hui
    Wu Huaiyu
    Wang Yongji
    2006 CHINESE CONTROL CONFERENCE, VOLS 1-5, 2006, : 664 - +
  • [9] Distributed Control of Multiple Wheeled Mobile Robots
    Dong, Wenjie
    Ben Ghalia, Mounir
    Farrell, Jay A.
    2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC), 2011, : 1373 - 1378
  • [10] Flocking of Multiple Mobile Robots Based on Backstepping
    Dong, Wenjie
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2011, 41 (02): : 414 - 424
12345