The Control Based on Internal Average Kinetic Energy in Complex Environment for Multi-robot System

Mao Yang; Yantao Tian; Xianghua Yin

Complex Sciences. First International Conference, Complex 2009, Shanghai, China, February 23-25, 2009. Revised Papers, Part 1

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

Mao Yang¹^,*, Yantao Tian¹^,*, Xianghua Yin¹

1: Jilin University

*Contact email: Yangmao820@yahoo.com.cn, tianyt@jlu.edu.cn

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.

Keywords: multi-robot system velocity damping trajectory tracking

Published: 2012-05-11

: http://dx.doi.org/10.1007/978-3-642-02466-5_59