Flocking for Swarm Robot System: Distributed Coadaptive Control and Optimization

Author

Yang, Mao ; Li, Chengfeng ; Tian, Yantao

Author_Institution

Key Lab. of Bionics Eng. of Minist. of Educ. China, Jilin Univ., Changchun, China

fYear

2009

fDate

19-20 Dec. 2009

Firstpage

1

Lastpage

4

Abstract

The mechanism of swarm flocking phenomena is investigated in this paper, and a distributed coadaptive control algorithm is presented for swarm robot system. We prove that this controller can enable all swarm members to converge to a common velocity only by means of the local information, then the finish time of flocking can be estimated. An improved particle swarm optimization algorithm (PSO) is adopted to solve the energy optimization problem. Simulation results are included to verify the controller and algorithm.

Keywords

adaptive control; multi-robot systems; particle swarm optimisation; distributed coadaptive control; optimization; particle swarm optimization algorithm; swarm flocking phenomena; swarm robot system; Communication system control; Control engineering education; Control systems; Distributed control; Educational robots; Laboratories; Robot control; Stability analysis; Systems engineering education; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Engineering and Computer Science, 2009. ICIECS 2009. International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-4994-1

Type

conf

DOI

10.1109/ICIECS.2009.5365540

Filename

5365540