TY - GEN
T1 - Formation control based on flocking algorithm in multi-agent system
AU - Cao, Hu
AU - Chen, Jie
AU - Mao, Yutian
AU - Fang, Hao
AU - Liu, Huagang
PY - 2010
Y1 - 2010
N2 - This paper mainly addresses flocking control algorithm to implement the "boids" model of Reynolds among the formation control by nonholonomic multi-robots. Firstly, distributed flocking of multiple autonomous agents with double integrator dynamics is studied. The proposed flocking algorithm is a gradient-based protocol combined with a velocity consensus protocol. For the gradient-based term, smooth artificial potential functions which could cope with the problem of shape generation are devised for all the agents. Moreover, the proposed coordinated protocols are applied to the formation control of a team of nonholonomic mobile robots. Finally, simulations and experiments show that the proposed controllers ensure the group formation is stabilized to a desired shape, while all the robots' velocities and directions converge to the same.
AB - This paper mainly addresses flocking control algorithm to implement the "boids" model of Reynolds among the formation control by nonholonomic multi-robots. Firstly, distributed flocking of multiple autonomous agents with double integrator dynamics is studied. The proposed flocking algorithm is a gradient-based protocol combined with a velocity consensus protocol. For the gradient-based term, smooth artificial potential functions which could cope with the problem of shape generation are devised for all the agents. Moreover, the proposed coordinated protocols are applied to the formation control of a team of nonholonomic mobile robots. Finally, simulations and experiments show that the proposed controllers ensure the group formation is stabilized to a desired shape, while all the robots' velocities and directions converge to the same.
KW - Artificial potential functions
KW - Flocking
KW - Formation control
KW - Multi-agent system
KW - Nonholonomic mobile robots
UR - http://www.scopus.com/inward/record.url?scp=77958148117&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2010.5554173
DO - 10.1109/WCICA.2010.5554173
M3 - Conference contribution
AN - SCOPUS:77958148117
SN - 9781424467129
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 2289
EP - 2294
BT - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
T2 - 2010 8th World Congress on Intelligent Control and Automation, WCICA 2010
Y2 - 7 July 2010 through 9 July 2010
ER -