文章基本信息

标题：An attempt to self-organized polygon formation control of swarm robots under cyclic topologies
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作者：Bo Zhou ; Qingkai Yang ; Lihua Dou 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：11000-11005
DOI：10.1016/j.ifacol.2020.12.024
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, we consider the problem of controlling a swarm of mobile robots to formulate a prescribed formation shape under cyclic topologies. By mimicking the shape transformation of elastic strings, we design a distributed control strategy using local sensing quantities. To implement this control algorithm, only a small number of robots need to be regulated to achieve the desired formation shape. It is shown that the desired polygon formation can be globally asymptotically stabilized under the proposed control strategy. Furthermore, in order to adapt to the situations where external influence is not exerted on the “right” robots, we propose a new self-organized control strategy that is capable of transferring the external influence through interacting with their nearest neighboring robots. Simulations are carried out to demonstrate the effectiveness of the proposed control strategies.
关键词：KeywordsFormation controlswarm robotscooperative control