Formation Control of UAVs and Mobile Robots Using Self-organized Communication Topologies
Formation Control of UAVs and Mobile Robots Using Self-organized Communication Topologies
复制标题
使用自组织通信拓扑的无人机和移动机器人编队控制
DOI：
10.1007/978-3-030-60376-2_25
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发表时间：
2020
期刊：
影响因子：
--
通讯作者：
M. Dorigo
中科院分区：
文献类型：
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作者：
Weixu Zhu;M. Allwright;M. K. Heinrich;S. Oğuz;A. Christensen;M. Dorigo
机器人群中的编队控制以导航过程中单个机器人的整体群形状和相对位置为目标。现有方法通常使用全局参考或具有有限的拓扑灵活性。我们提出了一种没有这些限制的新方法，通过扩展可合并神经系统的概念，通过自组织的无线通信网络来建立分布式非对称控制。在无人机和移动机器人的仿真实验中，我们提出了编队控制的三个子任务的概念验证：编队建立、运动中的维护和变形。我们还评估了我们方法的容错性和可伸缩性。
Formation control in a robot swarm targets the overall swarm shape and relative positions of individual robots during navigation. Existing approaches often use a global reference or have limited topology flexibility. We propose a novel approach without these constraints, by extending the concept of ‘mergeable nervous systems’ to establish distributed asymmetric control via a self-organized wireless communication network. In simulated experiments with UAVs and mobile robots, we present a proof-of-concept for three sub-tasks of formation control: formation establishment, maintenance during motion, and deformation. We also assess the fault tolerance and scalability of our approach.