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Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration
Li GN(李冠男); Xu HL(徐红丽); Lin Y(林扬)
作者部门海洋信息技术装备中心
关键词Bat Algorithm Cptd Method Multi-robots Formation Control Time Optimal Control
发表期刊JOURNAL OF BIONIC ENGINEERING
ISSN1672-6529
2018
卷号15期号:1页码:126-138
收录类别SCI ; EI ; CSCD
EI收录号20180904845090
WOS记录号WOS:000422996600010
CSCD记录号CSCD:6159506
产权排序1
资助机构Science & Technology Innovation Fund of Chinese Academy of Sciences [CXJJ-15M031]
摘要

This paper proposes a Bat Algorithm (BA) based Control Parameterization and Time Discretization (BA-CPTD) method to acquire time optimal control law for formation reconfiguration of multi-robots system. In this method, the problem of seeking for time optimal control law is converted into a parameter optimization problem by control parameterization and time discretization, so that the control law can be derived with BA. The actual state of a multi-robots system is then introduced as feedback information to eliminate formation error. This method can cope with the situations where the accurate mathematical model of a system is unavailable or the disturbance from the environment exists. Field experiments have verified the effectiveness of the proposed method and shown that formation converges faster than some existing methods. Further experiment results illustrate that the time optimal control law is able to provide smooth control input for robots to follow, so that the desired formation can be attained rapidly with minor formation error. The formation error will finally be eliminated by using actual state as feedback.

语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Multidisciplinary ; Materials Science, bioMaterials ; Robotics
关键词[WOS]Particle Swarm Optimization ; Interconnected Power-system ; Design ; Model
WOS研究方向Engineering ; Materials Science ; Robotics
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21523
专题海洋信息技术装备中心
通讯作者Li GN(李冠男)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Li GN,Xu HL,Lin Y. Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration[J]. JOURNAL OF BIONIC ENGINEERING,2018,15(1):126-138.
APA Li GN,Xu HL,&Lin Y.(2018).Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration.JOURNAL OF BIONIC ENGINEERING,15(1),126-138.
MLA Li GN,et al."Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration".JOURNAL OF BIONIC ENGINEERING 15.1(2018):126-138.
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