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一种编队控制的动态调整与规划方法

陈余庆 庄严 王伟

陈余庆, 庄严, 王伟. 一种编队控制的动态调整与规划方法. 自动化学报, 2007, 33(6): 628-634. doi: 10.1360/aas-007-0628
引用本文: 陈余庆, 庄严, 王伟. 一种编队控制的动态调整与规划方法. 自动化学报, 2007, 33(6): 628-634. doi: 10.1360/aas-007-0628
CHEN Yu-Qing, ZHUANG Yan, WANG Wei. A Dynamic Regulation and Scheduling Scheme for Formation Control. ACTA AUTOMATICA SINICA, 2007, 33(6): 628-634. doi: 10.1360/aas-007-0628
Citation: CHEN Yu-Qing, ZHUANG Yan, WANG Wei. A Dynamic Regulation and Scheduling Scheme for Formation Control. ACTA AUTOMATICA SINICA, 2007, 33(6): 628-634. doi: 10.1360/aas-007-0628

一种编队控制的动态调整与规划方法

doi: 10.1360/aas-007-0628
详细信息
    通讯作者:

    陈余庆

A Dynamic Regulation and Scheduling Scheme for Formation Control

More Information
    Corresponding author: CHEN Yu-Qing
  • 摘要: This article is concerned with cooperative control problems in formation of mobile robots under the nonholonomic constraints that certain geometrical constraints are imposed on multiple mobile robots throughout their travel. For this purpose, a new method of motion control for formation is presented, which is based on the dynamic regulation and scheduling scheme. It is attractive for its adaptability to the formation structure and desired trajectory. The quality of formation keeping can be evaluated by the instantaneous errors of formation offset and spacing distance. Some kinematics laws are developed to regulate and maintain the formation shape. Simulation results and data analysis show the validity of the proposed approach for a group of robots.
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出版历程
  • 收稿日期:  2006-02-28
  • 修回日期:  2006-06-26
  • 刊出日期:  2007-06-20

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