Robot Flocking Control with Part Information of the Virtual Leader

Huan Xin Peng; Bin Liu; De Hong Xu

doi:10.4028/www.scientific.net/AMM.364.352

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 364Robot Flocking Control with Part Information of...

Robot Flocking Control with Part Information of the Virtual Leader

Abstract:

Under virtual leader-follower model, when all robots can receive the information of the virtual leader, the robot flocking algorithm can avoid diverging. For time-delay, noise and network congestion in the communication, in the fact, only part robots can receive the information of the virtual leader. In the paper, we analyze the performance of robot flocking control algorithm with part information of the virtual leader. We analyze the impact brought by the parameters on the robot flocking control when only part robots can receive the information of the virtual leader, and simulations are done. Results show that the performance of distributed robot flocking algorithm depends on the probability of robot receiving the information of the virtual leader, the communication radius among robots, and density of robot and so on.

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Periodical:

Applied Mechanics and Materials (Volume 364)

Pages:

352-356

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.364.352

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Online since:

August 2013

Authors:

Huan Xin Peng, Bin Liu, De Hong Xu

Keywords:

Flocking, Multi-Agent System (MAS), Virtual Leader-Follower

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