UM
Leader-follower multi-robot formation system using model predictive control method based on particle swarm optimization
Xiao H.1; Chen C.L.P.1
2017-06-30
Source PublicationProceedings - 2017 32nd Youth Academic Annual Conference of Chinese Association of Automation, YAC 2017
Pages480-484
AbstractFor controlling the multi-robot formation system, a leader-follower separation-bearing-orientation scheme (S-BOS) is proposed and the leader-follower relationship can be represented as a formation-error kinematic system through SBOS strategy. In order to achieve the control objective, a nonlinear model predictive control (NMPC) strategy is applied to formulate the formation-error kinematic into a minimization optimization problem according to cost function. To solve this optimization problem online efficiently, a particle swarm optimization (PSO) is proposed to search for the global optimal solution as the control input. In the end of this work, simulations of the multi-robot formation are performed to verify the effectiveness of the developed strategy.
KeywordMultiple Mobile Robots Formation Nonlinear Model Predictive Control (NMPC) Particle Swarm Optimization (PSO) Separation-bearing-orientation Scheme (SBOS)
DOI10.1109/YAC.2017.7967457
URLView the original
Language英語
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Document TypeConference paper
CollectionUniversity of Macau
Affiliation1.Universidade de Macau
2.Dalian Maritime University
Recommended Citation
GB/T 7714
Xiao H.,Chen C.L.P.. Leader-follower multi-robot formation system using model predictive control method based on particle swarm optimization[C],2017:480-484.
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