Formation Control in Uncertain Environment

摘要：

Formation control in uncertain environment is studied, including the control process noise and measurement noise. The decoupled Kalnian Filter based on discrete model is established. And the control performances based on absolute positioning sensor, relative positioning sensor or fusion of these two kinds of sensor are studied. Simulations show that absolute positioning sensor could assure the formation trajectory tracking stability, and the relative positioning sensor could hold the precision of formation shape. The fusion of two type sensors information could give satisfying control results both on formation trajectory and shape.

关键词： multi-robot formation uncertain Kalman filter

作者: Yingying Ding Yan He

作者单位: College of Electrical and Control Engineering Changan University Xian,China College of Electrical Engineering Zhejiang University Hangzhou,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Intelligent Computing and Intelligent Systems(2009 IEEE 智能计算与智能系统国际会议)

会议地点: 上海

会议语种:英文

页码: 1465-1469

在线出版日期: 2009-11-20（万方平台首次上网日期，不代表论文的发表时间）