Formation Control of Multiple Rectangular Agents with Limited Communication Ranges
Formation control of multiple agents has attracted many robotic and control researchers recently because of its potential applications in various fields. This paper presents a novel approach to the formation control of multiple rectangular agents with limited communication ranges. The proposed distributed control algorithm is designed by utilizing an artificial potential function. The proposed control algorithm can guarantee fast formation performance and no collision among agents. As a result, the rectangular agents can move together and quickly form a pre-defined shape of formation such as straight line and circle, etc. Simulation results are conducted to demonstrate the effectiveness of the proposed algorithm.
KeywordsFormation Control Task Allocation Intelligent Transportation System Mobile Sensor Network Propose Control Algorithm
Unable to display preview. Download preview PDF.
- 5.La, H.M., Sheng, W.: Flocking control of a mobile sensor network to track and observe a moving target. In: IEEE Inter. Conf. on Robotics and Automation (ICRA), pp. 3129–3134 (2009)Google Scholar
- 8.Lilienthal, A.J., Reggente, M., Trincavelli, M., Blanco, J.L., Gonzalez, J.: A statistical approach to gas distribution modeling with mobile robots-the kernel dm+v algorithm. In: IEEE Inter. Conf. on Intell. Robot Sys., pp. 570–576 (2009)Google Scholar
- 10.La, H.M., Sheng, W., Chen, J.: Cooperative and active sensing in mobile sensor networks for scalar field mapping. IEEE Trans. on Systems, Man and Cybernetics, Part A: Systems (99), 1–12 (May 2014)Google Scholar
- 18.La, H.M., Lim, R., Sheng, W.: Multi-robot cooperative learning for predator avoidance. IEEE Trans. on Control Systems Technology (99), 1–12 (2014)Google Scholar
- 19.La, H.M., Sheng, W.: Flocking control of multiple agents in noisy environments. In: IEEE Inter. Conf. on Robotics and Automation (ICRA), pp. 4964–4969 (2010)Google Scholar
- 23.Li, W., Spong, M.W.: Analysis of flocking of cooperative multiple inertial agents via a geometric decomposition technique. IEEE Trans. on Systems, Man, and Cybernetics: Systems PP(99), 1 (2014)Google Scholar
- 27.Dimarogonas, D.V., Kyriakopoulos, K.J.: Connectedness preserving distributed swarm aggregation for multiple kinematic robots. IEEE Transactions on 24(5), 1213–1223 (2008)Google Scholar
- 31.La, H.M., Sheng, W.: Adaptive flocking control for dynamic target tracking in a mobile sensor network. In: IEEE Inter. Conf. on Intell. Robots and Sys (IROS), pp. 4843–4848.Google Scholar