2009 | OriginalPaper | Buchkapitel
The Control Based on Internal Average Kinetic Energy in Complex Environment for Multi-robot System
verfasst von : Mao Yang, Yantao Tian, Xianghua Yin
Erschienen in: Complex Sciences
Verlag: Springer Berlin Heidelberg
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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.