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Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration
Li GN(李冠男); Xu HL(徐红丽); Lin Y(林扬)
Department海洋信息技术装备中心
Source PublicationJOURNAL OF BIONIC ENGINEERING
ISSN1672-6529
2018
Volume15Issue:1Pages:126-138
Indexed BySCI ; EI ; CSCD
EI Accession number20180904845090
WOS IDWOS:000422996600010
CSCD IDCSCD:6159506
Contribution Rank1
Funding OrganizationScience & Technology Innovation Fund of Chinese Academy of Sciences [CXJJ-15M031]
KeywordBat Algorithm Cptd Method Multi-robots Formation Control Time Optimal Control
Abstract

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.

Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectEngineering, Multidisciplinary ; Materials Science, bioMaterials ; Robotics
WOS KeywordParticle Swarm Optimization ; Interconnected Power-system ; Design ; Model
WOS Research AreaEngineering ; Materials Science ; Robotics
Citation statistics
Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21523
Collection海洋信息技术装备中心
Corresponding AuthorLi GN(李冠男)
Affiliation1.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
GB/T 7714
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.
APA Li GN,Xu HL,&Lin Y.(2018).Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration.JOURNAL OF BIONIC ENGINEERING,15(1),126-138.
MLA Li GN,et al."Application of Bat Algorithm Based Time Optimal Control in Multi-robots Formation Reconfiguration".JOURNAL OF BIONIC ENGINEERING 15.1(2018):126-138.
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