仅考虑位置信息连通性保持的群体机器人集结控制

研究速度信息未知情形下的群体机器人集结控制问题.分别针对未设置虚拟领导者和设置虚拟领导者两种情形,提出了仅考虑位置信息的观测器和具有网络连通性保持的分布式控制方法.理论分析表明该算法具有网络连通性保持功能,并且保证所有机器人的速度信息收敛到一致,机器人最终也会聚集到一起.数值仿真实验验证了所提出分布式控制算法的有效性.

Rendezvous control of swarm robots with only position information while connectivity preserved

This paper mainly researches the rendezvous control problem of swarm robots without velocity information. For
the two cases without a virtual leader and with a virtual leader, distributed predictors are designed and distributed control
algorithms are proposed with only position information measurement while the connectivity is preserved. Theory analysis
shows that the proposed control algorithms can keep the robot network connected, and the velocity of all robots can converge
to the same value and the position information can reach consensus. Finally, simulation experiments show the effectiveness
of the proposed distributed control algorithms