DocumentCode :
1670475
Title :
An approach for corresponding vertexes of robots and application in formation control
Author :
Xu Wang-bao ; Chen Xue-bo
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
fYear :
2010
Firstpage :
456
Lastpage :
460
Abstract :
Determinating corresponding vertexes of robots is the precondition and base for utilizing artificial moment method to control multi-robot formation. In this paper, a new criterion based on generalized assignment problems is proposed to determine corresponding vertexes of robots, and its character is discussed. Then, according to the minimum increment principle, a new method for generalized assignment problems is presented, and the program is given in MATLAB language. Finally, numerical experiments were done. Both theory and results of experiments show that the criterion is as good as the distance-optimization correspondence, and the method has many advantages, such as low time complexity, and solutions being very close to the optimal solution, so they are feasible and valid.
Keywords :
control engineering computing; mathematics computing; multi-robot systems; position control; MATLAB language; artificial moment method; distance-optimization correspondence; generalized assignment problems; minimum increment principle; multirobot formation control; robot vertexes; time complexity; Control systems; Information science; Lead; MATLAB; Mobile robots; Moment methods; artificial moment method; assignment problems; formation control; multi-robot systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
Type :
conf
DOI :
10.1109/WCICA.2010.5553791
Filename :
5553791
Link To Document :
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