Steady formation analysis onmulti-robot systems  

作　　者：Yutong Liu Hongjun Yu Cheng-Chew Lim Peng Shi 

机构地区：[1]School of Electrical and Electronic Engineering,University of Adelaide,Adelaide,Australia

出　　处：《Journal of Control and Decision》2017年第1期12-31,共20页控制与决策学报（英文）

基　　金：partially supported by theAustralianResearch Council[grant numberDP140102180],[grant number LP140100471];the China Scholarship Council.

摘　　要：In this paper,a controller is designed for a group of cooperative robots to achieve the stable displacements.Communication network among the robots is assumed unavailable and each robot can only measure the displacements relative to their neighbours.The controller will enable the robots to move to a predefined formation or a special formation under a suitable protocol which we will design.We will discuss the effect of different sizes of the multi-vehicle system and conduct simulations to verify the effectiveness of the proposed controller and the formation protocols.

关 键 词：Formation control limited sensing range controller design size of multi-vehicle system 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]