کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10398745 | 890329 | 2012 | 9 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Multi-group coordination control for robot swarms
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موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
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چکیده انگلیسی
One of the most challenging goals in multi-robot systems is the cooperative control of swarms of robots to establish a complex formation. The large size of the community and the complexity of the task are the main obstructions that hinder the attainment of the goal. In this paper, we overcome these difficulties by introducing a multi-group coordination control methodology for robot swarms. Decomposition of robot swarms to multiple groups increases versatility of the whole community in operating in intricate environment. We formulate the problem into two parts: inter-group formation and intra-group formation. In the inter-group formation, coordination of groups in the community is considered, and in the intra-group formation, the formation of individuals in the groups is studied. Moreover, the concept of adaptive interactive force is proposed to cope with the inter-group interactions. Theoretical analysis of the stability of the multi-group control system is presented. Simulation results are presented to illustrate the performance of the proposed method.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Automatica - Volume 48, Issue 10, October 2012, Pages 2526-2534
Journal: Automatica - Volume 48, Issue 10, October 2012, Pages 2526-2534
نویسندگان
R. Haghighi, C.C. Cheah,