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
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