Research on adaptive formation control of mobile robot based on improved virtual spring method
Pages 775 - 780
Abstract
A robot formation control algorithm based on virtual spring model is proposed to solve the problem of path planning and formation keeping in unknown environment. By improving the design of target attraction, obstacle repulsion and interaction force between robots, the formation control is more secure and stable. Furthermore, the leader-follower formation transformation problem is studied. According to the objective function of minimum completion time, minimum total energy consumption and minimum total spring deformation, an adaptive formation transformation strategy is designed. This strategy can choose formation transformation mode adaptively according to the environment characteristics, such as adjust the parameters of the formation and reconfigure the formation, so that the robot formation can complete the task in a short time and energy consumption. Finally, the effectiveness of the proposed method is verified by simulation and real experiment.
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- Research on adaptive formation control of mobile robot based on improved virtual spring method
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Published In
March 2023
824 pages
ISBN:9781450399029
DOI:10.1145/3594315
Copyright © 2023 ACM.
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Association for Computing Machinery
New York, NY, United States
Publication History
Published: 02 August 2023
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- Research-article
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- Refereed limited
Funding Sources
- State Scholarship Fund of China
Conference
ICCAI 2023
ICCAI 2023: 2023 9th International Conference on Computing and Artificial Intelligence
March 17 - 20, 2023
Tianjin, China
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