Abstract
In this paper, reference trajectory is designed according to minimum energy consumed for multi-robot system, which nonlinear programming and cubic spline interpolation are adopted. The control strategy is composed of two levels, which lower-level is simple PD control and the upper-level is based on the internal average kinetic energy for multi-robot system in the complex environment with velocity damping. Simulation tests verify the effectiveness of this control strategy. © 2009 ICST Institute for Computer Sciences, Social Informatics and Telecommunications Engineering.
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Yang, M., Tian, Y., & Yin, X. (2009). The control based on internal average kinetic energy in complex environment for multi-robot system. In Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering (Vol. 4 LNICST, pp. 607–617). https://doi.org/10.1007/978-3-642-02466-5_59
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