Multi-robot formation control based on distributed model of mobile sensor network

Author

Li, Peng ; Chao, Li ; Long, Zhao ; Jindong, Tan

Author_Institution

Coll. of Commun. & Control Eng., Jiangnan Univ., Wuxi

fYear

2008

fDate

16-18 July 2008

Firstpage

169

Lastpage

172

Abstract

People are paying more and more attention to mobile sensor network now. Establishment of its model is conducive to in-depth analysis of the system. Based on the located information and graph theory, a distributed sensor network model is introduced. Delaunay triangulation used to describe nodes and the relationship between them and their transmission and fusion of information between nodes. And the description of coverage region of nodes uses Voronoi diagrams. With the model, disadvantages of existing located system based on a fixed infrastructure could be overcame. The flexibility of the sensor network would be greatly enhanced. And multi-robot formation control algorithm is also discussed with this model. It makes the network intelligent and more energy-efficient. The result shows it could complete complicated missions.

Keywords

computational geometry; intelligent networks; mesh generation; mobile radio; mobile robots; multi-robot systems; position control; wireless sensor networks; Delaunay triangulation; Voronoi diagrams; distributed sensor network model; graph theory; intelligent network; mobile sensor network; multirobot formation control; Chaotic communication; Communication system control; Computer networks; Distributed control; Global Positioning System; Graph theory; Intelligent networks; Intelligent sensors; Mobile communication; Mobile computing; Formation control; Mobile sensor networks; Modeling;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2008. CCC 2008. 27th Chinese

Conference_Location

Kunming

Print_ISBN

978-7-900719-70-6

Electronic_ISBN

978-7-900719-70-6

Type

conf

DOI

10.1109/CHICC.2008.4604939

Filename

4604939