cooperative target tracking control of multiple robots

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1、3232IEEETRANSACTIONSONINDUSTRIALELECTRONICS,VOL.59,NO.8,AUGUST2012CooperativeTargetTrackingControlofMultipleRobotsZongyaoWang,andDongbingGu,SeniorMember,IEEEAbstractThispaperfocusesontheproblemofmovingtar-robotsinteractwitheachothertosharetargetinformation.All

2、gettrackingwithagroupofmobilerobots.Eachrobotinthetherobotsinthegroupgraduallyreachtoanagreementaboutgrouphasapan/tiltcameratodetectthetargetandhaslimitedthetargetposition.Finally,alltherobotsusetheestimatedcommunicationcapabilitytocommunicatewithneighborrobot

3、s.targetpositionasatrackingdestinationtocontroltheirmotionsTheproblemissolvedbyseparatingitintotwoparts.Onepartistheestimationoftargetpositionandanotheristheflockingtoflockcohesively.controlofmultiplerobotsmovingtowardtheestimatedposition.Amulti-robotsystemcanbe

4、consideredasamobilesensorInthetargetestimationpart,weproposetouseanoveldistributednetwork.WhenasensornetworkisusedtotrackamovingKalmanfiltertoestimatethetargetposition.Thedistributedobject,thetaskoflocaldataaggregationinthenetworkpresentsKalmanfilterisdeducedbas

5、edonastandardKalmanfilterbyanewsetofchallenges[1]–[8].Althoughthesensornetworkmodelingtheneighborsinformationasoneofmeasurements.Inthemotioncontrolpart,adistributedflockingalgorithmisdevel-coverslargespatialarea,themovingtargetonlycanbeviewedoped.Itisusedtotrack

6、theestimatedtargetandavoidcollision.Inbyasmallnumberofsensornodeswhilemostsensornodesbothparts,onlylocalcommunicationbetweenneighborrobotsiscannotobservethemovingtarget[9]–[11].Cooperativeesti-required.Finally,thetrackingalgorithmsaresimulatedwith2-Dmationofth

7、etargetpositionbetweenneighborsensornodesand3-Drobotstoverifytheirperformance.Thesimulationresultsandcoordinatedmotioncontrolofmultiplerobotstowardtheprovideafirmconclusionthattheproposedalgorithmsareabletotrackamovingtarget.Agroupofrealgroundmobilerobotsisesti

8、matedtargetpositionarethechallengingissuesinvestigatedusedtotesttheproposedalgorithm.Theexperimentresultsshowinthispaper.thatmultiplerobotsareabletocooperatetotrackthetargetunderTh