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	Target Search Using Swarm Robots with Kinematic Constraints
	Xue Songdong2,3; Zeng Jianchao2; Du Jing1
	2009
关键词	kinematics particle swarm optimization swarm robots target search wheeled mobile robot
页码	3109-+
英文摘要	Taking target search with swarm robots for instance, we explore an approach to control swarm whose members are autonomous wheeled mobile robots with non-holonomic constraints. Comparing the differences and similarities between robot and particle in properties and behaviors, the authors map swarm search to particle swarm optimization (PSO). Given definitions of neighborhood structure and time-varying character swarm of robot, we extend PSO to model swarm robotic system at an abstract level. Multi-source heterogeneous signals of target are detected and fused independently by each robot in parallel, being used to decide the best-found positions both of robot itself and of character swarm by comparison. Then the expected positional series can be gained in iteration control by synthesizing its inertia and experience as well as experience of its character swarm. Finally, control vector consisting of linear and angular velocity is translated as available control inputs to individual controller at each time step, depending on robot kinematics. By this way, swarm robots can work together cooperatively. Simulation results indicate the validity of our control strategy and designed algorithm.
会议录出版者	IEEE
会议录出版地	345 E 47TH ST, NEW YORK, NY 10017 USA
语种	中文
WOS研究方向	Automation & Control Systems ; Engineering
WOS记录号	WOS:000274047201003
内容类型	会议论文
源URL	[http://119.78.100.223/handle/2XXMBERH/37894]
专题	兰州理工大学
作者单位	1.China North Ind Grp Corp, North Automat Control Technol Inst, Taiyuan 030006, Peoples R China 2.Taiyuan Univ Sci & Technol, Comp Syat & Comp Ins Lab, Taiyuan 030024, Peoples R China; 3.Lanzhou Univ Technol, Col Elect & Informat Engn, Lanzhou 730050, Peoples R China;
推荐引用方式 GB/T 7714	Xue Songdong,Zeng Jianchao,Du Jing. Target Search Using Swarm Robots with Kinematic Constraints[C]. 见:.

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