Optimal Motion Control for Multi-Robot System by Multilayer Network Operator

We are addressing the problem of designing an autonomous feedback control for a group of robots moving in the environment with obstacles and avoiding collisions. A robotic team with full information is considered. We propose a two-stage numerical approach for control synthesis. On the first stage a stabilizing control about some point in the state space is produced. On the second stage optimal trajectories are constructed as a set of stabilizing points. We apply a multilayer network operator for numerical search of control functions. Computational experiment is performed for control synthesis for a group of three mobile robots parking in the constrained space. © 2016 IEEE.

Авторы
Сборник материалов конференции
Издательство
IEEE
Язык
Английский
Страницы
2164-2169
Статус
Опубликовано
Год
2016
Организации
  • 1 Росcийский университет дружбы народов
Ключевые слова
optimal trajectories; control synthesis; autonomous vehicle navigation; collision avoidance; multiple robots
Дата создания
30.10.2018
Дата изменения
24.05.2021
Постоянная ссылка
https://repository.rudn.ru/ru/records/article/record/31195/
Поделиться

Другие записи