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题名: Relative State Modeling Based Distributed Receding Horizon Formation Control of Multiple Robot Systems
作者: Wang Z(王争) ; He YQ(何玉庆) ; Han JD(韩建达)
作者部门: 机器人学研究室
会议名称: Advances in Swarm Intelligence. Second International Conference, ICSI 2011
会议日期: June 12-15, 2011
会议地点: Chongqing, China
会议录: Advances in Swarm Intelligence. Proceedings of the Second International Conference, ICSI 2011
会议录出版者: Springer Verlag
会议录出版地: Berlin, Germany
出版日期: 2011
页码: 108-117
收录类别: EI
ISBN号: 978-3-642-21523-0
关键词: multiple robot system ; formation control ; distributed receding horizon control ; relative state model
摘要: Receding horizon control has been shown as a good method in multiple robot formation control problem. However, there are still two disadvantages in almost all receding horizon formation control (RHFC) algorithms. One of them is the huge computational burden due to the complicated nonlinear dynamical optimization, and the other is that most RHFC algorithms use the absolute states directly while relative states between two robots are more accurate and easier to be measured in many applications. Thus, in this paper, a new relative state modeling based distributed RHFC algorithm is designed to solve the two problems referred to above. Firstly, a simple strategy to modeling the dynamical process of the relative states is given; Subsequently, the distributed RHFC algorithm is introduced and the convergence is ensured by some extra constraints; Finally, formation control simulation with respect to three ground robots is conducted and the results show the improvement of the new given algorithm in the real time capability and the insensitiveness to the measurement noise.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8847
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
王争; 何玉庆; 韩建达 .Relative State Modeling Based Distributed Receding Horizon Formation Control of Multiple Robot Systems.见:Springer Verlag .Advances in Swarm Intelligence. Proceedings of the Second International Conference, ICSI 2011,Berlin, Germany,2011,108-117
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