Coadaptive Following Control of Swarm Robot System with Multiple Leaders in Dynamic Damping Environment
LIU Zongchun1, TIAN Yantao1,2, LI Chengfeng1
1. College of Communication Engineering, Jilin University, Changchun 130025, China; 2. Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun 130025, China
刘宗春, 田彦涛, 李成凤. 动态阻尼环境下多领导者群体机器人系统协同跟踪控制[J]. 机器人, 2011, 33(4): 385-393..
LIU Zongchun, TIAN Yantao, LI Chengfeng. Coadaptive Following Control of Swarm Robot System with Multiple Leaders in Dynamic Damping Environment. ROBOT, 2011, 33(4): 385-393..
Abstract:Coadaptive following problem of swarm robot system with multiple leaders in dynamic damping environment is studied.Ant colony algorithm is adopted to identify the leader for agents to follow,which is based on both the local following information of its neighbors and the requirements of the leaders.In order to realize following,this method can divide the swarm into different sub-groups in accordance with the requirements of leaders.Fuzzy adaptive method is utilized to adjust the parameters of the controller,so that the swarm robot system can overcome the impact of the dynamic damping factors in the environment.The simulation results testify the validity of the presented algorithms.
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