TY - GEN
T1 - Distributed Edge-based Event-driven Consensus Formation Strategy for Multiple Amphibious Spherical Robots
AU - Yin, He
AU - Guo, Shuxiang
AU - Shi, Liwei
AU - Xing, Huiming
AU - Hou, Xihuan
AU - Li, Zan
AU - Xia, Debin
AU - Zhou, Mugen
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/13
Y1 - 2020/10/13
N2 - In order to complete tasks efficiently, multiple robots are usually required to cooperate with each other. This leads to many requirements for the control strategy of multiple robots. In response to these needs, an edge-based event-driven consensus formation control strategy is proposed in this paper. The proposed formation control strategy merges virtual linkage formation control algorithm, edge-based event-driven consensus control algorithm and artificial potential field algorithm together. The virtual linkage formation control algorithm mainly controls the formation of multiple robot formations. The edge-based event-driven consistency control strategy is used to maintain the formation of multiple robots and increase energy utilization. The artificial potential field method is used to ensure the safe distance of each robot. The simulation experiment results prove that the proposed formation control strategy can realize the formation of multiple robots.
AB - In order to complete tasks efficiently, multiple robots are usually required to cooperate with each other. This leads to many requirements for the control strategy of multiple robots. In response to these needs, an edge-based event-driven consensus formation control strategy is proposed in this paper. The proposed formation control strategy merges virtual linkage formation control algorithm, edge-based event-driven consensus control algorithm and artificial potential field algorithm together. The virtual linkage formation control algorithm mainly controls the formation of multiple robot formations. The edge-based event-driven consistency control strategy is used to maintain the formation of multiple robots and increase energy utilization. The artificial potential field method is used to ensure the safe distance of each robot. The simulation experiment results prove that the proposed formation control strategy can realize the formation of multiple robots.
KW - Amphibious spherical robot
KW - Distributed formation control
KW - Event-driven consensus control
UR - http://www.scopus.com/inward/record.url?scp=85096541648&partnerID=8YFLogxK
U2 - 10.1109/ICMA49215.2020.9233534
DO - 10.1109/ICMA49215.2020.9233534
M3 - Conference contribution
AN - SCOPUS:85096541648
T3 - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
SP - 1197
EP - 1202
BT - 2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
Y2 - 13 October 2020 through 16 October 2020
ER -