Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration | |
Li GN(李冠男); Xu HL(徐红丽); Lin Y(林扬) | |
刊名 | JOURNAL OF BIONIC ENGINEERING
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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 |
产权排序 | 1 |
英文摘要 | 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关键词 | Particle Swarm Optimization ; Interconnected Power-system ; Design ; Model |
WOS研究方向 | Engineering ; Materials Science ; Robotics |
语种 | 英语 |
CSCD记录号 | CSCD:6159506 |
WOS记录号 | WOS:000422996600010 |
资助机构 | Science & Technology Innovation Fund of Chinese Academy of Sciences [CXJJ-15M031] |
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 |
通讯作者 | Li GN(李冠男) |
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 | Li GN,Xu HL,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 | Li GN,Xu HL,&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 | Li GN,et al."Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration".JOURNAL OF BIONIC ENGINEERING 15.1(2018):126-138. |
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