Lei Cheng
A new procedure for multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control: Mode description and integration principle
Cheng, Lei; Xu, Wen Xia; Wu, Huai Yu; Zhu, Quan Min; Wang, Yong Ji; Nouri, Hassan
Authors
Wen Xia Xu
Huai Yu Wu
Quan Zhu Quan.Zhu@uwe.ac.uk
Professor in Control Systems
Yong Ji Wang
Hassan Nouri Hassan.Nouri@uwe.ac.uk
Reader in Electrical Power and Energy
Abstract
This is the first of two-part paper that investigates the multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control. To provide a new procedure to avoid collisions and obstacles in the process of multi-robot's sequential flocking, this paper presents the design of a multi-model flocking control for multiple mobile robots in terms of behaviour-based robotics. Some nature-imitating behaviour modes are integrated into the new sequential flocking strategy, including single-robot potential-based behaviour, singlerobot wall-following behaviour, multi-robot rigid-body bouncing behaviour, multi-robot pathtracking behaviour and their fusion state. In this way, the efficient collision and obstacle avoidance in flocking motion can be achieved. Copyright © 2012 Inderscience Enterprises Ltd.
Journal Article Type | Article |
---|---|
Publication Date | Feb 27, 2012 |
Journal | International Journal of Modelling, Identification and Control |
Print ISSN | 1746-6172 |
Electronic ISSN | 1746-6180 |
Publisher | Inderscience |
Peer Reviewed | Peer Reviewed |
Volume | 15 |
Issue | 1 |
Pages | 39-47 |
DOI | https://doi.org/10.1504/IJMIC.2012.043939 |
Keywords | multi-robot flocking, multiple robots, flocking control, multi-mode sequential flocking, behaviour-based robotics, nonholonomic robots, mobile robots, motion control, robot motion, collision avoidance, obstacle avoidance, nature-imitating behaviour, flocking motion, wall following, bouncing, path tracking |
Public URL | https://uwe-repository.worktribe.com/output/952178 |
Publisher URL | http://dx.doi.org/10.1504/IJMIC.2012.043939 |
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