Experiments in Consensus-based Decentralized Information Feedback Control Strategies on a Real Robotic Fish Platform
Hongfei, Han, Wen Wen, Tân · 哈尔滨工业大学学报：英文版 · 2013
A decentralized information feedback mechanism was introduced to a group of mobile robots such that the robots asymptotically converge to a given moving formation. While various distributed cooperative control strategies have been studied in theory,few of them have been systematically validated on experimental platforms. This paper demonstrates the experimental results of consensus-based decentralized information feedback mechanism on a multiple mobile robotic fish platform. In this paper, we firstly introduced a fundamental consensus algorithm for systems model and the cooperative control experimental platform,and then experimentally implemented and validated the formation control algorithm through setting transit point and lookup table method and so on. The experimental results show the effectiveness of the consensus-based decentralized information feedback control strategies.