类车机器人网络的分布式连接控制

The 27th Chinese Control and Decision Conference (2015 CCDC) Pub Date : 2015-05-23 DOI:10.1109/CCDC.2015.7162477

Ni Zhang, Liwei Yuan, Xiongxiong He

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摘要

本文研究了移动类车机器人网络的通信连通性控制。利用代数图论、LaSalle不变量和负梯度算法，提出了维持移动类车机器人通信连通性的分布式控制律。利用该控制律，机器人可以实现最大的连通性拓扑。仿真结果表明了所提控制律的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Distributed connectivity control of car-like robot networks

This paper investigates communication connectivity control of mobile car-like robot networks. Employing algebraic graph theory, LaSalle invariant and negative gradient algorithm, the distributed control laws are proposed to maintain the communication connectivity of mobile car-like robots. With the control laws, robots can achieve the maximum connectivity topology. The simulation illustrates the effectiveness of the presented control laws.

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The 27th Chinese Control and Decision Conference (2015 CCDC)

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