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

页码：563 / 568

页数：6

共 50 条

[21] Distributed Flocking Bounded Control of Second-Order Dynamic Multiple Polygonal Agents
Nguyen, Thanh Binh
Kim, Sung Hyun
IEEE ACCESS, 2020, 8 (08): : 200170 - 200179
[22] Behavioral and distributed architecture of control for minimalist mobile robots
Laboratoire d'Automatique de Besançon, UMR CNRS 6596, 24 Rue Alain Savary, 25000 Besancon, France
J. Eur. Syst. Autom., 2006, 2 (177-196):
[23] Distributed Control for Mobile Robots Using PSD Sensors
Ge, Bin
Zou, Xuan
Yasuda, Gen'ichi
PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012), 2012, : 3943 - 3947
[24] Distributed Cooperative Control of Multiple Nonholonomic Mobile Robots
Gang Wang
Chaoli Wang
Qinghui Du
Lin Li
Wenjie Dong
Journal of Intelligent & Robotic Systems, 2016, 83 : 525 - 541
[25] Distributed diagnosis in formations of mobile robots
Daigle, Matthew J.
Koutsoukos, Xenofon D.
Biswas, Gautam
IEEE TRANSACTIONS ON ROBOTICS, 2007, 23 (02) : 353 - 369
[26] Distributed formation control of nonholonomic mobile robots without global position measurements
Liu, Tengfei
Jiang, Zhong-Ping
AUTOMATICA, 2013, 49 (02) : 592 - 600
[27] Distributed predictive formation control of networked mobile robots subject to communication delay
Yamchi, Mohammad Hosseinzadeh
Esfanjani, Reza Mahboobi
ROBOTICS AND AUTONOMOUS SYSTEMS, 2017, 91 : 194 - 207
[28] Tracking control of mobile robots using saturation feedback controller
Lee, TC
Song, KT
Lee, CH
Teng, CC
ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, 1999, : 2639 - 2644
[29] Distributed geodesic control laws for flocking of nonholonomic agents
Moshtagh, Nima
Jadbabaie, Ali
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2007, 52 (04) : 681 - 686
[30] Distributed Formation Control for a Group of Multiple Nonholonomic Mobile Robots
Dai Chiming
Liu Lixia
Miao Zhonghua
Zhou Jin
PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 6183 - 6188

← 1 2 3 4 5 →