Flocking of Multiple Mobile Robots Based on Backstepping

This paper considers the flocking of multiple nonholonomic wheeled mobile robots. Distributed controllers are proposed with the aid of backstepping techniques, results from graph theory, and singular perturbation theory. The proposed controllers can make the states of a group of robots converge to a...

Full description

Saved in:
Bibliographic Details
Published inIEEE transactions on systems, man and cybernetics. Part B, Cybernetics Vol. 41; no. 2; pp. 414 - 424
Main Author Dong, Wenjie
Format Journal Article
LanguageEnglish
Published United States IEEE 01.04.2011
Subjects
Algorithms
Artificial Intelligence
Backstepping
Centroids
Communication networks
Communication system control
Computer Simulation
Controllers
Cybernetics
decentralized control
Decision Support Techniques
Delay
Distributed control
flocking
formation control
Graph theory
Linear systems
Mobile robots
Models, Theoretical
Motion
nonlinear control
Pattern Recognition, Automated - methods
Robot control
Robotics - methods
Robots
Singular perturbation
Switches
Trajectories
Vehicles
wheeled mobile robots
Online AccessGet full text

Cover

More Information
Summary:This paper considers the flocking of multiple nonholonomic wheeled mobile robots. Distributed controllers are proposed with the aid of backstepping techniques, results from graph theory, and singular perturbation theory. The proposed controllers can make the states of a group of robots converge to a desired geometric pattern whose centroid moves along a desired trajectory under the condition that the desired trajectory is available to a portion of the group of robots. Since communication delay is inevitable in distributed control, its effect on the performance of the closed-loop systems is analyzed. It is shown that the proposed controllers work well if communication delays are constant. To show effectiveness of the proposed controllers, simulation results are included.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
ISSN:1083-4419
1941-0492
DOI:10.1109/TSMCB.2010.2056917