Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration

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	Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration
	Xu HL(徐红丽); Li GN(李冠男); Lin Y(林扬)
刊名	JOURNAL OF BIONIC ENGINEERING
	2018
卷号	15 期号:1 页码:126-138
关键词	Bat Algorithm CPTD method multi-robots formation control time optimal control
ISSN号	1672-6529
通讯作者	Li GN(李冠男)
产权排序	1
中文摘要	This paper proposes a Bat Algorithm (BA) based Control Parameterization and Time Discretization (BA-CPTD) method to acquire time optimal control law for formation reconfiguration of multi-robots system. In this method, the problem of seeking for time optimal control law is converted into a parameter optimization problem by control parameterization and time discretization, so that the control law can be derived with BA. The actual state of a multi-robots system is then introduced as feedback information to eliminate formation error. This method can cope with the situations where the accurate mathematical model of a system is unavailable or the disturbance from the environment exists. Field experiments have verified the effectiveness of the proposed method and shown that formation converges faster than some existing methods. Further experiment results illustrate that the time optimal control law is able to provide smooth control input for robots to follow, so that the desired formation can be attained rapidly with minor formation error. The formation error will finally be eliminated by using actual state as feedback.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
研究领域[WOS]	Engineering ; Materials Science ; Robotics
关键词[WOS]	PARTICLE SWARM OPTIMIZATION ; INTERCONNECTED POWER-SYSTEM ; DESIGN ; MODEL
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000422996600010
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/21523]
专题	沈阳自动化研究所_海洋信息技术装备中心
作者单位	1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), Shenyang, China 2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式 GB/T 7714	Xu HL,Li GN,Lin Y. Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration[J]. JOURNAL OF BIONIC ENGINEERING,2018,15(1):126-138.
APA	Xu HL,Li GN,&Lin Y.(2018).Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration.JOURNAL OF BIONIC ENGINEERING,15(1),126-138.
MLA	Xu HL,et al."Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration".JOURNAL OF BIONIC ENGINEERING 15.1(2018):126-138.