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System Development & Application
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1123-1127

Research on multi-robot formation control in uncertain environment

Wu Juncheng
Xiao Yufeng
Huo Jianwen
Robot Technology Used for Special Environment Key Laboratory of Sichuan Province, Southwest University of Science & Technology, Mianyang Sichuan 621010, China

Abstract

Aiming at problems such as difficulty for multi-robots in arriving at an intended target by keeping certain formation in uncertain environments, this paper proposed a multi-robot formation control algorithm in no need of world coordinates. This algorithm realized control of multi-robots in any formation with the controller of three rules of "separation""aligning" and "formation" designed according to Reynolds boids analogy method, and added switch rules to realize changes in multi-robot formations. Simulation experiments in different scenarios and complex environments verify the superiority of the proposed method. This algorithm can enable multi-robots to maintain their formation in uncertain environment to reach the target, which is of great significance for the application of multi-robots in rescue and disaster relief.

Foundation Support

国家“十三五”核能开发科研项目([2016]1295)
国家自然科学基金资助项目(61703126)
国家重点研发资助项目(2019YFB1310800)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2020.05.0141
Publish at: Application Research of Computers Printed Article, Vol. 38, 2021 No. 4
Section: System Development & Application
Pages: 1123-1127
Serial Number: 1001-3695(2021)04-030-1123-05

Publish History

[2021-04-05] Printed Article

Cite This Article

吴军成, 肖宇峰, 霍建文. 不确定环境下多机器人编队控制研究 [J]. 计算机应用研究, 2021, 38 (4): 1123-1127. (Wu Juncheng, Xiao Yufeng, Huo Jianwen. Research on multi-robot formation control in uncertain environment [J]. Application Research of Computers, 2021, 38 (4): 1123-1127. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.


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