Formation control of weak autonomous robots
Formation control of weak autonomous robots
复制标题
弱自主机器人编队控制
DOI：
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发表时间：
2011
期刊：
影响因子：
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通讯作者：
P. Pathirana
中科院分区：
文献类型：
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作者：
Huan Zhang;P. Pathirana
自主移动机器人以分布式方式形成任意几何图案是编队控制中的一个基本问题。利用分布式优化技术，提出了一种新的全分布式、无记忆（无关）的编队控制算法。该优化使当前机器人分布与目标几何图形之间适当定义的差函数最小化。优化过程由各个机器人在各自的局部坐标系中独立完成。基于分布式优化结果的运动策略保证每次运动都使当前机器人构型接近目标几何图形，直到达到最终图形。
Formation of autonomous mobile robots to an arbitrary geometric pattern in a distributed fashion is a fundamental problem in formation control. This paper presents a new fully distributed, memoryless (oblivious) algorithm to the formation control problem via distributed optimization techniques. The optimization minimizes an appropriately defined difference function between the current robot distribution and target geometric pattern. The optimization processes are performed independently by individual robots in their local coordinate system. A movement strategy derived from the results of the distributed optimizations guarantees that every movement makes the current robot configuration approaches the target geometric pattern until the final pattern is reached.