Decentralized navigation method for a robotic swarm with nonhomogeneous abilities
Decentralized navigation method for a robotic swarm with nonhomogeneous abilities
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DOI：
10.1007/s10514-018-9774-x
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发表时间：
2018-06
影响因子：
3.5
通讯作者：
M. Yoshimoto;T. Endo;Ryuma Maeda;F. Matsuno
中科院分区：
文献类型：
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作者：
M. Yoshimoto;T. Endo;Ryuma Maeda;F. Matsuno
本文讨论了具有非均匀能力的机器人群体的导航问题，包括感知范围、最大速度和加速度。该方法使机器人群体在二维平面内运动，每个跟随者仅利用局部信息分布式地构造和维护局部有向连接，实现全局连通性的维护。我们还确保了当领导者以恒定速度移动时，群体是稳定的。理论分析、真实的机器人实验和数值仿真均表明了该控制策略的有效性。
This paper addresses the navigation of a robotic swarm with nonhomogeneous abilities, including sensing range, maximum velocity, and acceleration. With this method, the robotic swarm moves in a two-dimensional plane, and each follower distributedly constructs and maintains local directed connection using only local information to achieve maintenance of global connectivity. We also ensure the swarm is stable when the leader moves at a constant velocity. Validity and effectiveness of the proposed control strategy are shown by theoretical analysis, experiments with real robots, and numerical simulations.