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Erschienen in:
2014 | OriginalPaper | Buchkapitel
Switched Topology Control and Negotiation of Distributed Self-healing for Mobile Robot Formation
verfasst von : Jianjun Ju, Zhe Liu, Weidong Chen, Jingchuan Wang
Erschienen in: Computational Intelligence, Networked Systems and Their Applications
Verlag: Springer Berlin Heidelberg
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In this paper, we investigate robot failure problem in mobile robot formation. A recursive and distributed self-healing algorithm is proposed to restore network topology when one or more robots fail. Firstly, a switched topology control method is introduced to restore the synchronization and connectivity of mobile robot network recursively. Then, a negotiation mechanism is further presented which achieves individual control in switched topology process. This mechanism only needs local information interactions between neighbors. Finally, the effectiveness of the proposed algorithm is validated by results of both simulations and real experiments.