Optimization-Based Distributed Flocking Control for Multiple Rigid Bodies
Optimization-Based Distributed Flocking Control for Multiple Rigid Bodies
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DOI：
10.1109/lra.2020.2969950
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发表时间：
2020-01
影响因子：
5.2
通讯作者：
Tatsuya Ibuki;S. Wilson;J. Yamauchi;M. Fujita;M. Egerstedt
中科院分区：
文献类型：
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作者：
Tatsuya Ibuki;S. Wilson;J. Yamauchi;M. Fujita;M. Egerstedt
本文研究了网络刚体特殊欧几里得群上的分布式群集控制。该方法捕获了Reynolds提出的三个群集规则：内聚性；对齐;和分离。所提出的控制器仅基于相对于相邻刚体的相对姿态（位置和姿态）信息，因此它可以仅使用局部传感器以完全分布式的方式实现。此外，该算法基于位姿同步方法对内聚/对齐规则进行处理，并通过控制屏障函数的应用实现安全的分离距离。通过求解具有位姿同步和避碰约束的分布式优化问题来选择每个刚体的控制输入。在这里，通过放松位置同步约束显式地处理内聚和分离之间的内在冲突。通过仿真和硬件实验验证了该算法的有效性。
This letter considers distributed flocking control on the Special Euclidean group for networked rigid bodies. The method captures the three flocking rules proposed by Reynolds: cohesion; alignment; and separation. The proposed controller is based only on relative pose (position and attitude) information with respect to neighboring rigid bodies so that it can be implemented in a fully distributed manner using only local sensors. The flocking algorithm is moreover based on pose synchronization methods for the cohesion/alignment rules and achieves safe separation distances through the application of control barrier functions. The control input for each rigid body is chosen by solving a distributed optimization problem with constraints for pose synchronization and collision avoidance. Here, the inherent conflict between cohesion and separation is explicitly handled by relaxing the position synchronization constraint. The effectiveness of the proposed flocking algorithm is demonstrated via simulation and hardware experiments.