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International Conference on Complex Sciences

Complex 2009: Complex Sciences pp 607–617Cite as

The Control Based on Internal Average Kinetic Energy in Complex Environment for Multi-robot System

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Abstract

In this paper, reference trajectory is designed according to minimum energy consumed for multi-robot system, which nonlinear programming and cubic spline interpolation are adopted. The control strategy is composed of two levels, which lower-level is simple PD control and the upper-level is based on the internal average kinetic energy for multi-robot system in the complex environment with velocity damping. Simulation tests verify the effectiveness of this control strategy.

This work is sponsored by the National Science Foundation of China (Grant No: 60675057).

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Authors and Affiliations

  1. School of Communication Engineering, Jilin University, Renmin Street. 5988, 130025, Changchun, China

    Mao Yang, Yantao Tian & Xianghua Yin

Authors
  1. Mao Yang
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  2. Yantao Tian
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  3. Xianghua Yin
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Editors and Affiliations

  1. Network Technology Research Centre, Research Techno Plaza, Nanyang Technology University, 4th story X‘Frontiers, Block 50 Nanyang Drive, 637553, Singapore

    Jie Zhou

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© 2009 ICST Institute for Computer Science, Social Informatics and Telecommunications Engineering

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Yang, M., Tian, Y., Yin, X. (2009). The Control Based on Internal Average Kinetic Energy in Complex Environment for Multi-robot System. In: Zhou, J. (eds) Complex Sciences. Complex 2009. Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, vol 4. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-02466-5_59

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  • DOI: https://doi.org/10.1007/978-3-642-02466-5_59

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-02465-8

  • Online ISBN: 978-3-642-02466-5

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