Formation control of multiple mobile robots based on the modal decomposition by discrete fourier series expansion
Formation control of multiple mobile robots based on the modal decomposition by discrete fourier series expansion
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DOI：
10.1109/iciafs.2014.7069540
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发表时间：
2014-03
期刊：
影响因子：
--
通讯作者：
M. Wada;T. Shimono
中科院分区：
文献类型：
--
作者：
M. Wada;T. Shimono
提出一种基于离散傅里叶级数展开(DFS)模态分解的多移动机器人编队控制方法。该方法通过控制模态空间中的线速度和旋转速度来控制编队。编队运动是通过模态分解导出的。因此，该方法获得了编队运动的物理意义。因此，它可以直接分析和控制编队的运动。此外，在每个分解模式中可以独立设计和组合指令速度。最后，实验结果证实了所提方法的有效性。
This paper proposes a formation control method of multiple mobile robots based on the modal decomposition by Discrete Fourier Series expansion (DFS). The proposed method controls the formation by controlling the linear velocity and rotational velocity in modal space. The motion of formation is derived by the modal decomposition. Thus, the proposed method obtains the physical meaning of the motion of formation. Therefore, it can analyze and control directly motion of formation. In addition, a command velocity can be independently designed and combined in each decomposed mode. Finally, the validity of the proposed method is confirmed by the experimental results.