Flocking Control of Mobile Robots with Obstacle Avoidance Based on Simulated Annealing Algorithm
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-06-27
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
Flocking control problem of mobile robots under environment with unknown obstacles is addressed in this paper.
Based on the simulated annealing algorithm, a flocking behaviour for mobile robots is achieved which converges to alignment while avoiding obstacles.
Potential functions are designed to evaluate the positional relationship between robots and obstacles.
Unlike the existing analytical method, simulated annealing algorithm is utilized to search the quasi-optimal position of robots in order to reduce the potential functions.
Motion control law is designed to drive the robot move to the desired position at each sampling period.
Experiments are implemented, and the results illustrate the effectiveness of the proposed flocking control method.
American Psychological Association (APA)
Cheng, Jin& Wang, Bin. 2020. Flocking Control of Mobile Robots with Obstacle Avoidance Based on Simulated Annealing Algorithm. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1197932
Modern Language Association (MLA)
Cheng, Jin& Wang, Bin. Flocking Control of Mobile Robots with Obstacle Avoidance Based on Simulated Annealing Algorithm. Mathematical Problems in Engineering No. 2020 (2020), pp.1-9.
https://search.emarefa.net/detail/BIM-1197932
American Medical Association (AMA)
Cheng, Jin& Wang, Bin. Flocking Control of Mobile Robots with Obstacle Avoidance Based on Simulated Annealing Algorithm. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-9.
https://search.emarefa.net/detail/BIM-1197932
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1197932