Target search using swarm robots with kinematic constraints

doi:10.1109/CCDC.2009.5192950

CORC > 兰州理工大学 > 兰州理工大学

	Target search using swarm robots with kinematic constraints
	Xue Songdong 1,3; Zeng Jianchao 3; Du Jing 2
	2009
会议日期	June 17, 2009 - June 19, 2009
会议地点	Guilin, China
关键词	Angular velocity Data communication equipment Iterative methods Kinematics Mobile robots Particle swarm optimization (PSO) Control strategies Kinematic constraints Neighborhood structure Non holonomic constraint Swarm robotic systems Swarm robots Target search Wheeled mobile robot
DOI	10.1109/CCDC.2009.5192950
页码	3109-3114
英文摘要	Taking target search with swarm robots for instance, we explore an approach to control swarm whose members are autonomous wheeled mobile robots with non-holonomic constraints. Comparing the differences and similarities between robot and particle in properties and behaviors, the authors map swarm search to particle swarm optimization (PSO). Given definitions of neighborhood structure and time-varying character swarm of robot, we extend PSO to model swarm robotic system at an abstract level. Multi-source heterogeneous signals of target are detected and fused independently by each robot in parallel, being used to decide the best-found positions both of robot itself and of character swarm by comparison. Then the expected positional series can be gained in iteration control by synthesizing its inertia and experience as well as experience of its character swarm. Finally, control vector consisting of linear and angular velocity is translated as available control inputs to individual controller at each time step, depending on robot kinematics. By this way, swarm robots can work together cooperatively. Simulation results indicate the validity of our control strategy and designed algorithm. © 2009 IEEE.
会议录	2009 Chinese Control and Decision Conference, CCDC 2009
会议录出版者	IEEE Computer Society
会议录出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
语种	中文
WOS研究方向	Automation & Control Systems ; Engineering
WOS记录号	WOS:000274047201003
内容类型	会议论文
源URL	[http://ir.lut.edu.cn/handle/2XXMBERH/117172]
专题	兰州理工大学
通讯作者	Xue Songdong
作者单位	1.Lanzhou Univ Technol, Col Elect & Informat Engn, Lanzhou 730050, Peoples R China 2.China North Ind Grp Corp, North Automat Control Technol Inst, Taiyuan 030006, Peoples R China 3.Taiyuan Univ Sci & Technol, Comp Syat & Comp Ins Lab, Taiyuan 030024, Peoples R China
推荐引用方式 GB/T 7714	Xue Songdong,Zeng Jianchao,Du Jing. Target search using swarm robots with kinematic constraints[C]. 见:. Guilin, China. June 17, 2009 - June 19, 2009.