Decentralized navigation method for a robotic swarm with nonhomogeneous abilities

被引：13
|
作者：
Yoshimoto, Masahiro [1 ]
Endo, Takahiro [1 ]
Maeda, Ryuma [1 ]
Matsuno, Fumitoshi [1 ]
机构：
[1] Kyoto Univ, Dept Mech Engn & Sci, Kyoto, Japan
来源：
AUTONOMOUS ROBOTS | 2018年 / 42卷 / 08期
关键词：
Swarm robotics; Connectivity maintenance; Spanning tree; Nonhomogeneous; DISTRIBUTED COORDINATION CONTROL; MULTIAGENT SYSTEMS; MOBILE ROBOTS; CONNECTIVITY; CONSENSUS;
D O I：
10.1007/s10514-018-9774-x
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper addresses the navigation of a robotic swarm with nonhomogeneous abilities, including sensing range, maximum velocity, and acceleration. With this method, the robotic swarm moves in a two-dimensional plane, and each follower distributedly constructs and maintains local directed connection using only local information to achieve maintenance of global connectivity. We also ensure the swarm is stable when the leader moves at a constant velocity. Validity and effectiveness of the proposed control strategy are shown by theoretical analysis, experiments with real robots, and numerical simulations.
引用
收藏
页码：1583 / 1599
页数：17
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