Experimental Verification of a Multi-robot Distributed Control Algorithm with Containment and Group Dispersion Behaviors
In this work, we develop and implement a multi-robot control platform and use it to validate the effectiveness of a distributed control algorithm with containment and group dispersion behaviors presented in one of our recent papers. We first present a distributed control algorithm adapted for a group of agents represented by double integrator dynamics that drives these agents, designated as “followers, close the convex hull spanned by another group of agents, designated as “leaders, while guaranteeing collision avoidance during the movement. We then develop a multi-robot experimental platform to verify these theoretical results. In the development of this experimental platform, a high-level computer is used for decision making based on the local information received by the sonar units, and low-level motion microcontrollers are used to control the wheeled mobile robots. Experimental results on the multi-robot platform are provided to show that the follower robots can indeed be successfully driven close to the containment of the leader robots while maintaining a minimum distance among all robots.
Distributed control containment and group dispersion behaviors experimental verification multi-robot platform
Hejin Zhang Ziyang Meng Zongli Lin
Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and In Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and In
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
6159-6164
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）