Flocking Control of Amigobots in Complex Environment with Obstacles
2019
The flocking control problem of mobile robots is addressed in this paper. Different from that in obstacle-free environment, the robots are controlled to be flocked while avoiding the obstacles in complex environment. A control approach is designed with repulsive force. Simulation results illustrate the effectiveness of the designed control method. Five amigobots are controlled stably while going through the narrow passageway.
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