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Proceedings Paper

A formation control strategy with coupling weights for the multi-robot system
Author(s): Xudong Liang; Siming Wang; Weijie Li
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Paper Abstract

The distributed formation problem of the multi-robot system with general linear dynamic characteristics and directed communication topology is discussed. In order to avoid that the multi-robot system can not maintain the desired formation in the complex communication environment, the distributed cooperative algorithm with coupling weights based on zipf distribution is designed. The asymptotic stability condition for the formation of the multi-robot system is given, and the theory of the graph and the Lyapunov theory are used to prove that the formation can converge to the desired geometry formation and the desired motion rules of the virtual leader under this condition. Nontrivial simulations are performed to validate the effectiveness of the distributed cooperative algorithm with coupling weights.

Paper Details

Date Published: 19 December 2017
PDF: 6 pages
Proc. SPIE 10613, 2017 International Conference on Robotics and Machine Vision, 106130L (19 December 2017); doi: 10.1117/12.2300757
Show Author Affiliations
Xudong Liang, Lanzhou JiaoTong Univ. (China)
Siming Wang, Lanzhou JiaoTong Univ. (China)
Weijie Li, Lanzhou JiaoTong Univ. (China)

Published in SPIE Proceedings Vol. 10613:
2017 International Conference on Robotics and Machine Vision
Chiharu Ishii; Genci Capi; Jianhong Zhou, Editor(s)

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