UM
Neural-Dynamic Optimization-Based Model Predictive Control for Tracking and Formation of Nonholonomic Multirobot Systems
Li, Zhijun1; Yuan, Wang1; Chen, Yao1; Ke, Fan1; Chu, Xiaoli2; Chen, C. L. Philip3
2018-12
Source PublicationIEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
ISSN2162-237X
Volume29Issue:12Pages:6113-6122
AbstractIn this paper, a neural-dynamic optimization-based nonlinear model predictive control (NMPC) is developed for the multiple nonholonomic mobile robots formation. First, a model-based monocular vision method is developed to obtain the location information of the leader. Then, a separation-bearingorientation scheme (SBOS) control strategy is proposed. During the formation motion, the leader robot is controlled to track the desired trajectory and the desired leader-follower relationship can be maintained through the SBOS method. Finally, the model predictive control (MPC) is utilized to maintain the desired leader-follower relationship. To solve the MPC generated constrained quadratic programming problem, the neural-dynamic optimization approach is used to search for the global optimal solution. Compared to other existing formation control approaches, the proposed solution is that the NMPC scheme exploit prime-dual neural network for online optimization. Finally, by using several actual mobile robots, the effectiveness of the proposed approach has been verified through the experimental studies.
KeywordFormation control multiple mobile robots neural-dynamic optimization nonlinear model predictive control (NMPC)
DOI10.1109/TNNLS.2018.2818127
URLView the original
Indexed BySCI
Language英语
WOS Research AreaComputer Science ; Engineering
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Hardware & Architecture ; Computer Science, Theory & Methods ; Engineering, Electrical & Electronic
WOS IDWOS:000451230100027
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Cited Times [WOS]:4   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Affiliation1.South China Univ Technol, Coll Automat Sci & Engn, Guangzhou 510641, Guangdong, Peoples R China;
2.Univ Sci & Technol China, Dept Automat, Hefei 230026, Peoples R China;
3.Univ Macau, Fac Sci & Technol, Macau 999078, Peoples R China
Recommended Citation
GB/T 7714
Li, Zhijun,Yuan, Wang,Chen, Yao,et al. Neural-Dynamic Optimization-Based Model Predictive Control for Tracking and Formation of Nonholonomic Multirobot Systems[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,2018,29(12):6113-6122.
APA Li, Zhijun,Yuan, Wang,Chen, Yao,Ke, Fan,Chu, Xiaoli,&Chen, C. L. Philip.(2018).Neural-Dynamic Optimization-Based Model Predictive Control for Tracking and Formation of Nonholonomic Multirobot Systems.IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,29(12),6113-6122.
MLA Li, Zhijun,et al."Neural-Dynamic Optimization-Based Model Predictive Control for Tracking and Formation of Nonholonomic Multirobot Systems".IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS 29.12(2018):6113-6122.
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