Multi-objective region reaching control for a swarm of robots

• Autores: Zhonghua Miao, Junwei Ye, Jichen Li, Jin Zhou
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 103, 2019, págs. 81-87
• Idioma: inglés
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• Resumen

  • This paper is concerned with the multi-objective region reaching control for a swarm of robots which are formulated by Lagrangian dynamics. Two distributed multi-objective region reaching control protocols are proposed for the networked robotic systems under directed acyclic topology, and a unifying methodology is presented to perform the convergence analysis for the robotic systems with static and moving target regions. The control strategy is developed by using the potential energy function approach, and the specified shapes of the various desired regions are constructed by selecting appropriate objective functions. In this control strategy, a network of a large number of robots evolves into multiple groups, and the robots in each group only require communicating with their neighbors. Thus, the proposed control strategy is effective for multi-objective region reaching control for a swarm of robots in practical applications. Finally, simulation examples are given to show the validity of the theoretical results.,