基于共识的多非完整机器人群体控制

2016 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC) Pub Date : 2016-11-01 DOI:10.1109/ROPEC.2016.7830592

Abraham Bautista-Castillo, C. López-Franco, Emmanuel Nuño

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引用次数: 13

摘要

本文提出了一种基于分散共识的群体控制器，该控制器同时考虑了运动学模型和动力学模型，将由N个非完整移动机器人组成的网络渐进地驱动到具有给定方向的期望群体。该网络被建模为一个无向、静态和连通的图。控制器是一种简单的时变类pd方案。模拟，使用网络的六个非完整移动机器人报告支持理论贡献。

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Consensus-based formation control for multiple nonholonomic robots

This paper presents a decentralized consensus-based formation controller that considers both, the kinematic and the dynamic model, to asymptotically drive a network composed of N nonholonomic mobile robots to a desired formation with a given orientation. The network is modeled as an undirected, static and connected graph. The controller is a simple time-varying PD-like scheme. Simulations, using a network with six nonholonomic mobile robots are reported to support the theoretical contributions.

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来源期刊

2016 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)

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