[1]QU Yunhao,DING Yongsheng,HAO Kuangrong,et al.March-inspired multi-robot compact formation strategy[J].CAAI Transactions on Intelligent Systems,2018,13(5):673-679.[doi:10.11992/tis.201710023]
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March-inspired multi-robot compact formation strategy

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 13 Number of periods: 2018 5 Page number: 673-679 Column: 学术论文—智能系统 Public date: 2018-09-05
Title:
March-inspired multi-robot compact formation strategy
Author(s):
QU Yunhao1; 2;  DING Yongsheng1; 2;  HAO Kuangrong1; 2;  WANG Tong1; 2
1. College of Information Sciences and Technology, Donghua University, Shanghai 201620, China;
2. Engineering Research Center of Digitized Textile & Apparel Technology, Ministry of Education, Donghua University, Shanghai 201620, China
Keywords:
multi-robot; march-inspired; compact formation; leader-follower structure
CLC:
TP242
DOI:
10.11992/tis.201710023
Abstract:
Multi-robot collaborative formation is one of the key technologies of multi-robot research. By controlling the robots in the team, the multi-robot cooperative formation can move forward according to the predetermined formation. Based on the formation control method of the leader-follower structure, and inspired by the rapid march of the army, this paper presents two principles:sequential substitution in the same column and inward convergence in the last row, and a multi-robot compact formation strategy is proposed. Two formation performance evaluation indicators of energy consumption and formation compactness are introduced, which verifies the superiority of the multi-robot compact formation strategy. Finally, the simulation result proves the efficiency of the multi-robot compact formation strategy.
References:
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