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

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