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Chin. Phys. B, 2019, Vol. 28(3): 030501    DOI: 10.1088/1674-1056/28/3/030501
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Energy-optimal problem of multiple nonholonomic wheeled mobile robots via distributed event-triggered optimization algorithm

Ying-Wen Zhang(张潆文)1, Jin-Huan Wang(王金环)1, Yong Xu(徐勇)1, De-Dong Yang(杨德东)2
1 School of Science, Hebei Province Key Laboratory of Big Data Calculation, Hebei University of Technology, Tianjin 300401, China;
2 School of Artificial Intelligence, Hebei University of Technology, Tianjin 300401, China

The distributed event-triggered optimization problem for multiple nonholonomic robots has been studied to minimize the global battery energy consumption. Each robot possesses its own cost function which depends on the state of the hand position and represents battery energy consumption. By coordinate transformation, the dynamics of the hand positions can be formulated into two groups of first-order integrators. Then the distributed event-triggered optimization algorithm is designed such that the states of robots' hand positions exponentially converge to the optimizer of the global cost function. Meanwhile, the velocity and orientation of each robot are ensured to reach zero and a certain constant, respectively. Moreover, the inter-execution time is lower bounded and the Zeno behavior is therefore naturally avoided. Numerical simulations show the effectiveness of the proposed algorithm.

Keywords:  distributed optimization      nonholonomic robots      event-triggered      energy-optimal      consensus  
Received:  13 November 2018      Revised:  18 December 2018      Accepted manuscript online: 
PACS:  05.45.Xt (Synchronization; coupled oscillators)  
  89.75.-k (Complex systems)  
  45.40.Ln (Robotics)  
  02.30.Yy (Control theory)  

Project supported by the National Natural Science Foundation of China (Grant No. 11701138) and the Natural Science Foundation of Hebei Province, China (Grant Nos. F2017202009 and F2018202075).

Corresponding Authors:  Jin-Huan Wang     E-mail:

Cite this article: 

Ying-Wen Zhang(张潆文), Jin-Huan Wang(王金环), Yong Xu(徐勇), De-Dong Yang(杨德东) Energy-optimal problem of multiple nonholonomic wheeled mobile robots via distributed event-triggered optimization algorithm 2019 Chin. Phys. B 28 030501

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