Multiple Robots Formation Control Based On Receding Horizon Optimization
A new two-level receding horizon multiple robot formation control strategy is proposed in this paper. Where the local GPMN tracking controllers acting on each individual robot system are at the lower level, and at the higher level, the receding horizon optimization is conducted by considering both the full dynamics of each robot system and their local controller. This new algorithm presents some attracting advantages, including the suboptimal formation behavior based on the receding horizon optimization algorithm, the convergence ensured by the GPMN structure, the good real time performance, and the reduced communicational burden. And finally, in order to show the feasibility and validity of the new proposed algorithm, simulations with respect to the formation problem of 4 planar model helicopters are conducted and the results are analyzed.
Yuqing He Jianda Han
State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang,110016,P.R.China
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
734-739
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）