Control of many robots moving in the same direction with different speeds: A decoupling approach
Control of many robots moving in the same direction with different speeds: A decoupling approach
复制标题
控制许多机器人以不同的速度向同一方向移动：一种解耦方法
DOI：
10.1109/acc.2009.5160686
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
T. Bretl
中科院分区：
文献类型：
--
作者：
David DeVon;T. Bretl
本文考虑了控制一组微型机器人的问题，这些机器人可以以不同的速度移动，但必须都沿同一方向移动。为了简化这个问题，将运动方向作为时间的周期函数。虽然由此产生的控制策略是次优的无限时域二次成本，一个界限上如何次优。这个界限被扩展以表明，在理论上，使所有机器人沿同一方向移动的设计折衷方案仅使预期成本增加最多1.2倍。结果显示在模拟中。
This paper considers the problem of controlling a group of microrobots that can move at different speeds but that must all move in the same direction. To simplify this problem, the movement direction is made a periodic function of time. Although the resulting control policy is suboptimal for an infinite-horizon quadratic cost, a bound is provided on how suboptimal it is. This bound is extended to show that, in theory, the design compromise making all robots move in the same direction only increases the expected cost by a factor of at most √2. Results are shown in simulation.