Title :
Particle swarm optimization-based receding horizon control for multi-robot formation
Author :
Seung-Mok Lee ; Hyun Myung
Author_Institution :
Robot. Program & Civil & Environ. Eng., KAIST, Daejeon, South Korea
Abstract :
This paper proposes a receding horizon control (RHC) scheme incorporating a cooperative particle swarm optimization (CPSO) to deal with formation control problem. The CPSO is modified to fit on solving the formation control problem. A numerical simulation is performed on a group of nonholonomic mobile robots to demonstrate the effectiveness of the proposed RHC scheme incorporating CPSO.
Keywords :
mobile robots; motion control; multi-robot systems; particle swarm optimisation; predictive control; CPSO; RHC scheme; cooperative particle swarm optimization; formation control problem; multirobot formation; nonholonomic mobile robots; numerical simulation; particle swarm optimization-based receding horizon control; Ambient intelligence; Cost function; Particle swarm optimization; Robots; Tracking; Vectors; Formation control; particle swarm optimization (PSO); receding horizon control (RHC);
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6463100
