Research Article
The Control Based on Internal Average Kinetic Energy in Complex Environment for Multi-robot System
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@INPROCEEDINGS{10.1007/978-3-642-02466-5_59, author={Mao Yang and Yantao Tian and Xianghua Yin}, title={The Control Based on Internal Average Kinetic Energy in Complex Environment for Multi-robot System}, proceedings={Complex Sciences. First International Conference, Complex 2009, Shanghai, China, February 23-25, 2009. Revised Papers, Part 1}, proceedings_a={COMPLEX PART 1}, year={2012}, month={5}, keywords={multi-robot system velocity damping trajectory tracking}, doi={10.1007/978-3-642-02466-5_59} }- Mao Yang
Yantao Tian
Xianghua Yin
Year: 2012
The Control Based on Internal Average Kinetic Energy in Complex Environment for Multi-robot System
COMPLEX PART 1
Springer
DOI: 10.1007/978-3-642-02466-5_59
Abstract
In this paper, reference trajectory is designed according to minimum energy consumed for multi-robot system, which nonlinear programming and cubic spline interpolation are adopted. The control strategy is composed of two levels, which lower-level is simple PD control and the upper-level is based on the internal average kinetic energy for multi-robot system in the complex environment with velocity damping. Simulation tests verify the effectiveness of this control strategy.
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