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Distributed leader-follower flocking control

Wang, Zongyao and Gu, Dongbing (2009) 'Distributed leader-follower flocking control.' Asian Journal of Control, 11 (4). pp. 396-406. ISSN 1561-8625

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Abstract

This paper presents a fuzzy based leader-follower flocking system. To maintain the distance between robots, we use a fuzzy logic controller to design a "force function" which is related to the relative distance between neighbours. The "force function" is used to control velocity of robots. To prove stability of the flocking system, we build a Hamilton function which is kinetic energy of the flocking system. Utilizing the LaSalle's invariance principle, we prove that the system is stable. Specially, we develop a flocking controller in local form. By using the local controller, the robots in the flocking system only need to know local information (relative distances and relative angles between neighbours). To evaluate performance of the flocking system, we simulate the flocking system tracking trajectories with different shapes. The local flocking algorithm is tested with three Pioneer robots. We use the SICK laser scanner to measure the relative distances and relative angles between neighbours. ©2009 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society.

Item Type: Article
Uncontrolled Keywords: Multirobot; flocking; local sensors
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 20 Oct 2012 09:36
Last Modified: 15 Jan 2022 00:44
URI: http://repository.essex.ac.uk/id/eprint/4041

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