UM
Leader-follower Multi-Robot Formation System Using Model Predictive Control Method Based on Particle Swarm Optimization
Xiao, Hanzhen; Chen, C. L. Philip; IEEE
2017
Conference Name2017 32ND YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC)
Pages480-484
Publication Place345 E 47TH ST, NEW YORK, NY 10017 USA
PublisherIEEE
AbstractFor controlling the multi-robot formation system, a leader-follower separation-bearing-orientation scheme (SBOS) 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 Separation-bearing-orientation Scheme (SBOS) Nonlinear Model Predictive Control (NMPC) Particle Swarm Optimization (PSO)
URLView the original
Indexed ByCPCI
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000425862800090
The Source to ArticleWOS
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Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionUniversity of Macau
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GB/T 7714
Xiao, Hanzhen,Chen, C. L. Philip,IEEE. Leader-follower Multi-Robot Formation System Using Model Predictive Control Method Based on Particle Swarm Optimization[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2017:480-484.
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