Multi-robot Formation Control Based on Parameter Optimization Algorithm

被引：0
|
作者：
Zhang, Fangfang [1 ]
Xie, Zhaokun [1 ]
Gao, Xiaoyang [1 ]
Peng, Jinzhu [1 ]
机构：
[1] Zhengzhou Univ, Sch Elect Engn, Zhengzhou 450001, Henan, Peoples R China
来源：
2019 CHINESE AUTOMATION CONGRESS (CAC2019) | 2019年
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
Formation control; Pioneer3-DX; Adaptive parameter; Fitting equation; Parameter adjustment efficiency;
D O I：
10.1109/cac48633.2019.8996335
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a multi-robot formation control algorithm. The controller is designed by the difference between the distance and the angle of the two robots. It is proved that the algorithm can guarantee the stability of the formation. Furthermore, the obtained formation control algorithm is tested on the software platform and Pioneer3-DX platform. According to the multi-robot formation control algorithm, a control method of adaptive parameters is proposed. The existing parameters are replaced by fitting equations, which improves the efficiency of parameter adjustment. Simulation and experimental results verify the feasibility and effectiveness of the proposed method.
引用
收藏
页码：2288 / 2293
页数：6
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