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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

Lei Cheng

Wen Xia Xu

Huai Yu Wu

Profile image of Quan Zhu

Quan Zhu Quan.Zhu@uwe.ac.uk
Professor in Control Systems

Yong Ji Wang

Profile image of Hassan Nouri

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