Relay switched, scalable topology control for mobile robot networks based on motion synchronization  

作　　者：张飞 Chen Weidong 

机构地区：[1]Department of Automation, Shanghai Jiaotong University, Shanghai 200240, P.R. China

出　　处：《High Technology Letters》2009年第4期401-408,共8页高技术通讯（英文版）

基　　金：Supported by the National High Technology Research and Development Programme of China ( No. 2006AA040203 );the National Natural Science Foundation of China (No. 60775062);the Program for New Century Excellent Talents in University (No. NCET-07-0538).

摘　　要：A mobile robot network is said to be easily scalable to any number of robots if its performance is kept almost fixed after these robots are added or some fail in the network. An interaction dynamics model based on motion synchronization is first established. Considering the mobility of mobile robot networks, we propose a relay switched, distributed topology control for the scalable network to drive neMy added robots to the most suitable positions with more neighbors as well as self-heal the blank positions of failed robots, and give a metric of the topology structure for evaluating the performance of network topologies. Then, we prove the stability of motion synchronization with the individual control based on Lyapunov exponent. Finally, the results of simulations have demonstrated the validity of the proposed modeling and control methods.A mobile robot network is said to be easily scalable to any number of robots if its performance is keptalmost fixed after these robots are added or some fail in the network. An interaction dynamics modelbased on motion synchronization is first established. Considering the mobility of mobile robot networks,we propose a relay switched, distributed topology control for the scalable network to drive newly addedrobots to the most suitable positions with more neighbor's as well as self-heal the blank positions of failedrobots, and give a metric of the topology structure for evaluating the performance of network topologies.Then, we prove the stability of motion synchronization with the individual control based on Lyapunov exponent.Finally, the results of simulations have demonstrated the validity of the proposed modeling and controlmethods.

关 键 词：SCALABILITY mobile robot network switched topology motion synchronization 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP393.04[自动化与计算机技术—控制科学与工程]