Open AccessMulti‐flocking of networked non‐holonomic mobile robots with proximity graphs
Author(s) -
Zhao XiaoWen,
Hu Bin,
Guan ZhiHong,
Chen ChaoYang,
Chi Ming,
Zhang XianHe
Publication year - 2016
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2016.0501
Subject(s) - flocking (texture) , holonomic , mobile robot , algebraic graph theory , robot , computer science , distributed computing , graph , theoretical computer science , artificial intelligence , materials science , composite material
In this study, the authors develop the collective motion of flocking of networked mobile robots with non‐holonomic model via proximity graphs. To satisfy the requirements of different tasks, they formulate the notion of multi‐flocking for networked non‐holonomic mobile robots. Based on the neighbouring information, they propose a novel distributed control protocol for multi‐flocking problem of networked non‐holonomic mobile robots using potential function. By combing algebraic graph theory with Barbalat's lemma, the proposed distributed control protocol guarantees that the robots in the same subgroup asymptotically move with the same velocity and heading angle, while ensuring connectivity preservation of each subgraph and collision avoidance of the whole systems, if the initial proximity subgraph is connected. Finally, a numerical simulation is given to illustrate the theoretical results.