DocumentCode
18657
Title
Applications of Collective Circular Motion Control to Multirobot Systems
Author
Hai-Tao Zhang ; Zhiyong Chen ; Long Yan ; Wenwu Yu
Author_Institution
Dept. of Control Sci. & Eng., Huazhong Univ. of Sci. & Technol., Wuhan, China
Volume
21
Issue
4
fYear
2013
fDate
Jul-13
Firstpage
1416
Lastpage
1422
Abstract
Collective circular motion is common in both natural systems and engineering applications. Recent theoretical research has intensively studied the fundamental control mechanism. This brief aims to pave the way from theoretical design to practical implementation by addressing a set of issues encountered in real applications. As a result, a practically effective control algorithm is successfully implemented and examined for a multirobot system to achieve a desired circular formation.
Keywords
motion control; multi-robot systems; position control; circular formation; collective circular motion control; control algorithm; control mechanism; multirobot system; Collision avoidance; Mobile robots; Multirobot systems; Robot sensing systems; Sonar; Collective circular motions; decentralized control; multiagent systems (MASs); nonholonomic vehicles;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/TCST.2012.2200679
Filename
6217301
Link To Document