TY - GEN
T1 - A local multi-robot cooperative formation control
AU - Yang, Li
AU - Che, Yanqiu
AU - Guo, Jiawei
AU - Huang, Xiwen
N1 - Funding Information:
ACKNOWLEDGMENT This work is funded by the National Natural Science Foundation of China under Grant 61203119, 61304153, by Tianjin Natural Science Foundation under Grants 13JCYBJC17500, 13JCQNJC03700, 15JCQNJC04200, by Tianjin University of Technology and Education Foundation under grants KJY1302 by the Opened Fund of the State Key Laboratory on Integrated Optoelectronics No. IOSKL2015KF09 and the Tianjin Municipal Special Program of Talents Development for Excellent Youth Scholars.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/6
Y1 - 2018/7/6
N2 - An advanced algorithm for local sensing multi-robot cooperative formation control in uncertain environments is presented in this paper. In this proposed algorithm, the global-level multi-robot cooperative formation control problem is decomposed into a tracking problem of some subsystems each of which only includes one follower and one lead robot. A multi-step predictive strategy is adopted, in which each follower predicts the motion of the leading robot and estimates the relevant information based on the history motion information. The follower keeps formation by observing its leader on the local coordinate system of the following robot. The simulation results are given to demonstrate the feasibility and effectiveness of the approach.
AB - An advanced algorithm for local sensing multi-robot cooperative formation control in uncertain environments is presented in this paper. In this proposed algorithm, the global-level multi-robot cooperative formation control problem is decomposed into a tracking problem of some subsystems each of which only includes one follower and one lead robot. A multi-step predictive strategy is adopted, in which each follower predicts the motion of the leading robot and estimates the relevant information based on the history motion information. The follower keeps formation by observing its leader on the local coordinate system of the following robot. The simulation results are given to demonstrate the feasibility and effectiveness of the approach.
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U2 - 10.1109/YAC.2018.8406397
DO - 10.1109/YAC.2018.8406397
M3 - Conference contribution
AN - SCOPUS:85050629651
T3 - Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018
SP - 344
EP - 347
BT - Proceedings - 2018 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 33rd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2018
Y2 - 18 May 2018 through 20 May 2018
ER -