PSO-based cooperative control of multiple mobile robots in parameter-tuned formations

Kwok, NM; Ngo, VT; Ha, QP

PSO-based cooperative control of multiple mobile robots in parameter-tuned formations

Kwok, NM Ngo, VT Ha, QP

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007, 2007, pp. 332 - 337
Issue Date:: 2007-12-01

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Field	Value	Language
dc.contributor.author	Kwok, NM	en_US
dc.contributor.author	Ngo, VT	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2007-12-01	en_US
dc.identifier.citation	Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007, 2007, pp. 332 - 337	en_US
dc.identifier.isbn	1424411548	en_US
dc.identifier.isbn	9781424411542	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2856
dc.description.abstract	This paper addresses the coordination of multiple mobile robots in navigation formations. Difficulties encountered in conventional leader-follower approaches, such as bounds on control commands and formation constraints are revealed. A generic control structure is then proposed, based on the leader-follower strategy and virtual robot tracking framework, to parameterize the formation configuration for cooperatively deploying the robots into desired patterns. In order to achieve both tracking accuracy and control feasibility, the design is further cast as a constrained optimization problem to obtain formation configuration parameters and controller parameters simultaneously. The particle swarm optimization (PSO) algorithm is used, owing to its computationally-efficient capability of handling multi-objective criteria. Satisfactory results obtained through simulation are included to illustrate the effectiveness of the proposed technique for a number of benchmark patterns. © 2007 IEEE.	en_US
dc.relation.ispartof	Proceedings of the 3rd IEEE International Conference on Automation Science and Engineering, IEEE CASE 2007	en_US
dc.relation.isbasedon	10.1109/COASE.2007.4341716	en_US
dc.title	PSO-based cooperative control of multiple mobile robots in parameter-tuned formations	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Scottsdale, Arizona, USA	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

This paper addresses the coordination of multiple mobile robots in navigation formations. Difficulties encountered in conventional leader-follower approaches, such as bounds on control commands and formation constraints are revealed. A generic control structure is then proposed, based on the leader-follower strategy and virtual robot tracking framework, to parameterize the formation configuration for cooperatively deploying the robots into desired patterns. In order to achieve both tracking accuracy and control feasibility, the design is further cast as a constrained optimization problem to obtain formation configuration parameters and controller parameters simultaneously. The particle swarm optimization (PSO) algorithm is used, owing to its computationally-efficient capability of handling multi-objective criteria. Satisfactory results obtained through simulation are included to illustrate the effectiveness of the proposed technique for a number of benchmark patterns. © 2007 IEEE.

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