کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
412571 679655 2008 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Distributed coordination architecture for multi-robot formation control
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Distributed coordination architecture for multi-robot formation control
چکیده انگلیسی

In the exploration and implementation of formation control strategies, communication range and bandwidth limitations form a barrier to large scale formation control applications. The limitations of current formation control strategies involving a leader–follower approach and a consensus-based approach with fully available group trajectory information are explored. A unified, distributed formation control architecture that accommodates an arbitrary number of group leaders and arbitrary information flow among vehicles is proposed. The architecture requires only local neighbor-to-neighbor information exchange. In particular, an extended consensus algorithm is applied on the group level to estimate the time-varying group trajectory information in a distributed manner. Based on the estimated group trajectory information, a consensus-based distributed formation control strategy is then applied for vehicle level control. The proposed architecture is experimentally implemented and validated on a multi-robot platform under local neighbor-to-neighbor information exchange with a single or multiple leaders involved.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 56, Issue 4, 30 April 2008, Pages 324–333
نویسندگان
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