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题名:
Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration
作者: Li GN(李冠男); Xu HL(徐红丽); Lin Y(林扬)
作者部门: 海洋信息技术装备中心
通讯作者: Li GN(李冠男)
关键词: Bat Algorithm ; CPTD method ; multi-robots formation control ; time optimal control
刊名: JOURNAL OF BIONIC ENGINEERING
ISSN号: 1672-6529
出版日期: 2018
卷号: 15, 期号:1, 页码:126-138
收录类别: SCI ; EI
EI收录号: 20180904845090
WOS记录号: WOS:000422996600010
产权排序: 1
项目资助者: Science & Technology Innovation Fund of Chinese Academy of Sciences [CXJJ-15M031]
摘要: This paper proposes a Bat Algorithm (BA) based Control Parameterization and Time Discretization (BA-CPTD) method to acquire time optimal control law for formation reconfiguration of multi-robots system. In this method, the problem of seeking for time optimal control law is converted into a parameter optimization problem by control parameterization and time discretization, so that the control law can be derived with BA. The actual state of a multi-robots system is then introduced as feedback information to eliminate formation error. This method can cope with the situations where the accurate mathematical model of a system is unavailable or the disturbance from the environment exists. Field experiments have verified the effectiveness of the proposed method and shown that formation converges faster than some existing methods. Further experiment results illustrate that the time optimal control law is able to provide smooth control input for robots to follow, so that the desired formation can be attained rapidly with minor formation error. The formation error will finally be eliminated by using actual state as feedback.
语种: 英语
WOS标题词: Science & Technology ; Technology
类目[WOS]: Engineering, Multidisciplinary ; Materials Science, Biomaterials ; Robotics
关键词[WOS]: PARTICLE SWARM OPTIMIZATION ; INTERCONNECTED POWER-SYSTEM ; DESIGN ; MODEL
研究领域[WOS]: Engineering ; Materials Science ; Robotics
Citation statistics:
内容类型: 期刊论文
URI标识: http://210.72.131.170/handle/173321/21523
Appears in Collections:海洋信息技术装备中心_期刊论文

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作者单位: 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (CAS), Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China

Recommended Citation:
Li GN,Xu HL,Lin Y. Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration[J]. JOURNAL OF BIONIC ENGINEERING,2018,15(1):126-138.
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文件名: Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration.pdf
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