19 December 2017 A formation control strategy with coupling weights for the multi-robot system
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Proceedings Volume 10613, 2017 International Conference on Robotics and Machine Vision; 106130L (2017) https://doi.org/10.1117/12.2300757
Event: Second International Conference on Robotics and Machine Vision, 2017, Kitakyushu, Japan
Abstract
The distributed formation problem of the multi-robot system with general linear dynamic characteristics and directed communication topology is discussed. In order to avoid that the multi-robot system can not maintain the desired formation in the complex communication environment, the distributed cooperative algorithm with coupling weights based on zipf distribution is designed. The asymptotic stability condition for the formation of the multi-robot system is given, and the theory of the graph and the Lyapunov theory are used to prove that the formation can converge to the desired geometry formation and the desired motion rules of the virtual leader under this condition. Nontrivial simulations are performed to validate the effectiveness of the distributed cooperative algorithm with coupling weights.
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Xudong Liang, Xudong Liang, Siming Wang, Siming Wang, Weijie Li, Weijie Li, } "A formation control strategy with coupling weights for the multi-robot system", Proc. SPIE 10613, 2017 International Conference on Robotics and Machine Vision, 106130L (19 December 2017); doi: 10.1117/12.2300757; https://doi.org/10.1117/12.2300757
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