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Circular motion of multiple nonholonomic robots under switching topology with ordinal ranking.
- Source :
-
Journal of the Franklin Institute . Oct2020, Vol. 357 Issue 15, p10737-10756. 20p. - Publication Year :
- 2020
-
Abstract
- This paper investigates the circular motion of a group of n (n ≥ 2) nonholonomic robots over time-varying communication networks. We aim to achieve a balanced circular motion centered at a location determined by each robot under the assumption that the global ranking of any robot is unknown. A back-stepping based controller is firstly designed to make all the robots rotate around a common center, the position of which is obtained through executing a consensus algorithm by each robot. Then, the maximum and minimum consensus algorithm and a distributed modified ordinal ranking algorithm are applied to set the rotation radius, angular velocity, and orientation parameters in a distributed manner such that all the robots can uniformly space on the common circle. At last, the effectiveness of the proposed algorithms is illustrated through a simulation example. [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 00160032
- Volume :
- 357
- Issue :
- 15
- Database :
- Academic Search Index
- Journal :
- Journal of the Franklin Institute
- Publication Type :
- Periodical
- Accession number :
- 146100677
- Full Text :
- https://doi.org/10.1016/j.jfranklin.2020.07.041