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Bounded distributed flocking control of nonholonomic mobile robots

Bounded distributed flocking control of nonholonomic mobile robots

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There have been numerous studies on the problem of flocking control for multiagent systems whose simplified models are presented in terms of point-mass elements. Meanwhile, full dynamic models pose some challenging problems in addressing the flocking control problem of mobile robots due to their nonholonomic dynamic properties. Taking practical constraints into consideration, we propose a novel approach to distributed flocking control of nonholonomic mobile robots by bounded feedback. The flocking control objectives consist of velocity consensus, collision avoidance, and cohesion maintenance among mobile robots. A flocking control protocol that is based on the information of neighbor mobile robots is constructed. The theoretical analysis is conducted with the help of a Lyapunov-like function and graph theory. Simulation results are shown to demonstrate the efficacy of the proposed distributed flocking control scheme.

Chapter Contents:

  • Abstract
  • 11.1 Introduction
  • 11.2 Related work
  • 11.3 Problem formulation
  • 11.4 Main results
  • 11.4.1 Speed consensus and connectivity preservation
  • 11.4.2 Orientation consensus
  • 11.5 Avoidance of obstacles
  • 11.6 Simulation
  • 11.7 Conclusions
  • Acknowledgments
  • References

Inspec keywords: collision avoidance; multi-agent systems; graph theory; multi-robot systems; distributed control; mobile robots; Lyapunov methods; feedback

Other keywords: multiagent systems; nonholonomic dynamic properties; distributed flocking control scheme; Lyapunov-like function; point-mass elements; neighbor mobile robots; graph theory; flocking control objectives; flocking control problem; dynamic models; flocking control protocol; bounded feedback; nonholonomic mobile robots

Subjects: Multivariable control systems; Mobile robots; Combinatorial mathematics; Stability in control theory; Spatial variables control

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