Formation Control of Robot Swarm Based on Community Division and Multilevel Topology Design via Pining

摘要：

　　In order to solve the problem which robot swarm isnt easy to form and maintain stable formations,a formation control algorithm based on community division and multilevel topology is proposed by introducing the ideas of hierarchical clustering and pining control.Firstly,based on the hierarchical clustering algorithm,a large group of robots is divided into some communities and a pining robot is found out in each community.Secondly,a multilevel topology is designed as the standard shape of robots in each community.Finally,a controller is presented to finish formation and collision avoidance.The local minimum and the instable formation direction of problems in the controller are solved simultaneously.The experimental results show the validity of the algorithm.

关键词： Robot Swarm Formation Control Community Division Pining Control and Multilevel Topology

作者: Shiming Chen Xianda Ding Xiaoling Chen

作者单位: School of Electrical and Electronic Engineering,East China Jiaotong University,Nanchang 330013,China

会议类型: 国际会议

会议名称: 第26届中国控制与决策会议(2014 CCDC)

会议地点: 长沙

会议语种:英文

页码: 1631-1636

在线出版日期: 2014-05-31（万方平台首次上网日期，不代表论文的发表时间）