期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 21, 期 6, 页码 2306-2314出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2012.2227744
关键词
Bounded control input; network connectivity; obstacle avoidance; rendezvous
资金
- Research Grants Council of the Hong Kong Special Administrative Region, China [CityU 119612]
- City University of Hong Kong [7002743]
Maintaining the connectivity of an underlying robot network during a rendezvous task in the presence of obstacles is a challenge in control systems technology. In this brief, a navigation-function-based potential field approach is developed to address this challenging problem. A concept called connectivity constraint is used to establish a navigation function. A new potential field that simultaneously integrates rendezvous requirement, connectivity maintenance, and obstacle avoidance is also developed. On the basis of this potential field, we design a bounded control input for multirobot control. The proposed controller can drive multiple robots to an agreement state while maintaining connectivity of the underlying network provided that the initial configurations of the robots are connected. Simulations and experiments are performed to verify the effectiveness of the proposed approach.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据