DocumentCode
596521
Title
Particle swarm optimization-based receding horizon control for multi-robot formation
Author
Seung-Mok Lee ; Hyun Myung
Author_Institution
Robot. Program & Civil & Environ. Eng., KAIST, Daejeon, South Korea
fYear
2012
fDate
26-28 Nov. 2012
Firstpage
625
Lastpage
626
Abstract
This paper proposes a receding horizon control (RHC) scheme incorporating a cooperative particle swarm optimization (CPSO) to deal with formation control problem. The CPSO is modified to fit on solving the formation control problem. A numerical simulation is performed on a group of nonholonomic mobile robots to demonstrate the effectiveness of the proposed RHC scheme incorporating CPSO.
Keywords
mobile robots; motion control; multi-robot systems; particle swarm optimisation; predictive control; CPSO; RHC scheme; cooperative particle swarm optimization; formation control problem; multirobot formation; nonholonomic mobile robots; numerical simulation; particle swarm optimization-based receding horizon control; Ambient intelligence; Cost function; Particle swarm optimization; Robots; Tracking; Vectors; Formation control; particle swarm optimization (PSO); receding horizon control (RHC);
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location
Daejeon
Print_ISBN
978-1-4673-3111-1
Electronic_ISBN
978-1-4673-3110-4
Type
conf
DOI
10.1109/URAI.2012.6463100
Filename
6463100
Link To Document