首页|Distributed formation control of a networked multi-robot system using estimation based event-trigger communication mechanism
Distributed formation control of a networked multi-robot system using estimation based event-trigger communication mechanism
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This paper concerns with distributed formation control problem of a multi-robot system subject to limited communication resources and unknown but bounded process measurement noise。 In this paper， an estimation-based event-trigger communication scheme is proposed， which uses an estimator on each robot to obtain whether the current measurement should be transmitted。 Because of nonlinearity in robot models， non-Gaussian data transition and the ability to reduce the effects of process measurement noise， the extended Kalman filter is used as an estimator in this paper。 The proposed event-triggered scheduling scheme provides a better communication rate than other existing ones。 The formation is achieved in a distributed manner using estimated data on each robot which means the formation control strategy is not different from a time-based sampling technic。
Mobile robotsEstimationKalman filtersMathematical modelMulti-robot systemsRobot kinematics
Sayedhossein Mousavizadeh Kashipaz、Alireza Mohammad Shahri
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Iran university of science and technology,Department of Electrical Engineering,Tehran,Iran
International Conference on Robotics and Mechatronics
Tehran(IR)
2019 7th International Conference on Robotics and Mechatronics
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