2A2-F15 Distributed Control Algorithm of Group Escape Behavior for Multiple Mobile Robots

2009 ◽  
Vol 2009 (0) ◽  
pp. _2A2-F15_1-_2A2-F15_4
Author(s):  
Hongkyu Min ◽  
Zhidong Wang
Keyword(s):  
Mobile Robots ◽  
Distributed Control ◽  
Control Algorithm ◽  
Escape Behavior ◽  
Multiple Mobile Robots ◽  
Distributed Control Algorithm

DISTRIBUTED FORMATION CONTROL AND OBSTACLE AVOIDANCE OF MULTI-ROBOT SYSTEM

2020 ◽  
Vol 40 (04) ◽  
Author(s):  
HÀ TRỌNG NGHĨA ◽  
TRẦN THANH KẾT ◽  
NGUYỄN TẤN LUỸ
Keyword(s):  
Mobile Robots ◽  
Limit Cycle ◽  
Distributed Control ◽  
Trajectory Tracking ◽  
Formation Control ◽  
Control Algorithm ◽  
Control Method ◽  
Reference Trajectory ◽  
Robot System ◽  
Distributed Control Algorithm

This paper proposes a distributed control method for multi-mobile robots to avoid obstacles. Firstly, the Limit Cycle (LC) method is exploited to set the reference trajectory for robots to avoid obstacles. Secondly, the control rule that control a leading robot following the reference path is introduced. Thirdly, the algorithm that controls robots moving in a formation and avoiding obstacles based on the combination of the LC method and the reference trajectory tracking algorithm. Different from the distributed control algorithm in related documents, the algorithm in this paper ensures that the robot formation is not only maintained but also avoids obstacles when moving to the target. Finally, simulation and experimental results are conducted to verify the effectiveness of the proposed method.

scholarly journals A distributed control algorithm for internal flow management in a multi-zone climate unit

2008 ◽  
Vol 81 (1) ◽  
pp. 89-106 ◽  
Author(s):  
C. De Persis ◽  
J. J. Jessen ◽  
R. Izadi-Zamanabadi ◽  
H. Schiøler
Keyword(s):  
Distributed Control ◽  
Control Algorithm ◽  
Internal Flow ◽  
Flow Management ◽  
Distributed Control Algorithm
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