By Topic

Flocking for Swarm Robot System: Distributed Coadaptive Control and Optimization

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Mao Yang ; Key Lab. of Bionics Eng. of Minist. of Educ. China, Jilin Univ., Changchun, China ; Chengfeng Li ; Yantao Tian

The mechanism of swarm flocking phenomena is investigated in this paper, and a distributed coadaptive control algorithm is presented for swarm robot system. We prove that this controller can enable all swarm members to converge to a common velocity only by means of the local information, then the finish time of flocking can be estimated. An improved particle swarm optimization algorithm (PSO) is adopted to solve the energy optimization problem. Simulation results are included to verify the controller and algorithm.

Published in:

2009 International Conference on Information Engineering and Computer Science

Date of Conference:

19-20 Dec. 2009