The optimization research of formation control for multiple mobile robots
Proceedings of the 4th World Congress on Intelligent Control and Automation (Cat. No.02EX527) - Tập 2 - Trang 1270-1274 vol.2
Tóm tắt
In order to achieve formation control, an individual robot adopts the motor schema-based architecture and four primitive behaviors are introduced including: move to goal, keep formation, avoid static obstacle and avoid robot behavior. The behavioral decision to direct the movement of robots is made by the combination of primitive behaviors. The genetic algorithm is used in this paper to solve the problem of selecting control parameters that underlie the behaviors because of its difficulty. The simulation results obtained testify the feasibility of the proposed approach.
Từ khóa
#Mobile robots #Robot kinematics #Robotics and automation #Robot sensing systems #Automatic control #Orbital robotics #Robot control #Genetic algorithms #Space exploration #TestingTài liệu tham khảo
10.1002/rob.4620080204
10.1109/ROBOT.1993.291842
10.1177/027836498900800406
10.1109/IROS.1994.407656
10.1177/105971239400200303
10.1109/ROBOT.1994.350940
michalewicz, 1992, Genetic Algorithms +Data Structures = Evolution Programs, 10.1007/978-3-662-02830-8
cai, 1995, Hierarchical control architecture for cellular robotic system: simulations and experiments, Proc IEEE Int Conf Robot Automat, 1191
10.1109/ROBOT.2001.932546
10.1109/70.736776
10.1109/JRA.1986.1087032
10.1002/rob.4620090304