期刊
NEUROCOMPUTING
卷 367, 期 -, 页码 103-113出版社
ELSEVIER
DOI: 10.1016/j.neucom.2019.08.032
关键词
Distributed optimization; Multi-robot system; Trajectory tracking; Obstacle avoidance; Recurrent neural networks
资金
- Startup Fund for Youngman Research at SJTU
- Natural Science Foundation of Shanghai [18ZR1420100]
- National Natural Science Foundation of China [61703274]
In this paper, we use a connected undirected graph to describe the multiple redundant manipulator system. An optimization model is formulated as a convex problem with coupled constraints. These constraints include equality constraints derived for path tracking, inequality constraints derived for obstacle avoidance, and convex sets built for joint physical limits. A novel distributed neurodynamics-based algorithm is developed for solving the complex problem in real time, so that there is no need for having a center coordinator in the multi-robot system. To verify the established model and the proposed algorithm, a dual-robot system is simulated to carry a rigid object following desired trajectories with obstacles considered. A more complex tri-robot system is simulated to perform as a supplementary evidence. (C) 2019 Elsevier B.V. All rights reserved.
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