Anzeige
Erschienen in:
2017 | OriginalPaper | Buchkapitel
A Distributed Self-healing Algorithm for Global Optimal Movement Synchronization of Multi-robot Formation Network
verfasst von : Xiangyu Fu, Weidong Chen, Zhe Liu, Jingchuan Wang, Hesheng Wang
Erschienen in: Intelligent Autonomous Systems 14
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
Abstract
When multiple robots cooperate to carry out some tasks, the movement synchronization of the formation is essential. However, due to the uncertainty of the complicated environment, it is inevitable that certain robot fails. Therefore, it’s worth to figure out some ways to minimize the damage caused by failed robot. In this paper, a distributed self-healing algorithm for multi-robot network global optimal movement synchronization is presented. The proposed algorithm can transform any robot’s failure into the failure of the robot which has the least degree so that can minimize the influence on movement synchronization. In addition, gradient is involved in the algorithm to make repairing path shortest under the condition of maintaining global optimal movement synchronization. In the whole process of the self-healing, all robots only communicate with their own neighbors, so the robots are distributed controlled. Finally, the effectiveness of the proposed algorithm is validated by simulation experiments.