[1]YANG Mao,TIAN Yantao.Foraging path planning and control for multi-robot in complex environment[J].CAAI Transactions on Intelligent Systems,2013,8(2):162-167.[doi:10.3969/j.issn.1673-4785.201208022]
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Foraging path planning and control for multi-robot in complex environment

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 8 Number of periods: 2013 2 Page number: 162-167 Column: 学术论文—智能系统 Public date: 2013-04-25
Title:
Foraging path planning and control for multi-robot in complex environment
Author(s):
YANG Mao1;  TIAN Yantao2
1. Electrical Engineering College, Northeast Dianli University, Jilin 132012, China;
2. School of Communication Engineering, Jilin University, Changchun 130025, China
Keywords:
multi-robot;  decentralized control;  foraging;  path planning;  cohesion
CLC:
TP18
DOI:
10.3969/j.issn.1673-4785.201208022
Abstract:
Aiming at the stable cooperative foraging problems of the multi-robot system in complex environments, the Particle Swarm Optimization (PSO) algorithm was adopted in this paper to plan an optimal smooth path of the center of multi-robot system in corresponding objects. In order to plan an optimal smooth path of the center of multi-robot system in corresponding objects, it was necessary to examine the system in great detail. And on this basis, a corresponding distributed controller was designed, and a stabilization and cohesion analysis of the multi-robot moving was performed. The control strategy, proved the swarm internal average kinetic energy did converge to the given value, and the multi-robot system moving scale was under control, indicating no collisions. Experiments have been completed and verified the designed controller. The results show that the proposed controller enables the multi-robot system to reach a stable foraging behavior in complex environments.
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