A Multi-input Feedback Control Algorithm for Formation Control
نویسنده
چکیده
Aiming at the multiple robots formation control problem, this paper presents a solution for the paralyzed deadlock and decision conflict in the formation system. It introduces the randomized-generating function and variable repulsive force feedback control algorithm, combines the leader-follower and the artificial potential field approach and defines the distance, velocity vector and the virtual force as the inputs and outputs of the feedback control system. The two-wheel differential robot physical platform is designed on PC with the 2000series DSP chip. And the simulation results and mobile robots entity test demonstrate the validity of the proposed method.
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