Leader-Follower Flocking: Algorithms and Experiments

In this paper, we investigate a leader-follower flocking system where few members are group leaders who have global knowledge (a desired trajectory), while majority of the members are group followers who can communicate with neighbors but do not have global knowledge. The followers do not even know...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 2009-09, Vol.17 (5), p.1211-1219
Main Authors: Dongbing Gu, Dongbing Gu, Zongyao Wang, Zongyao Wang
Format: Article
Language:English
Subjects:
Adaptative systems
Applied sciences
Communication system control
Computer science
control theory
systems
Control systems
Control theory. Systems
Cooperative control
Distributed control
Eigenvalues and eigenfunctions
Exact sciences and technology
flocking behavior
Global Positioning System
leader-follower flocking
Multirobot systems
Robot sensing systems
Robotics
Stability
Testing
Trajectory
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Summary:In this paper, we investigate a leader-follower flocking system where few members are group leaders who have global knowledge (a desired trajectory), while majority of the members are group followers who can communicate with neighbors but do not have global knowledge. The followers do not even know who the leaders are in the group. The flocking group is able to track a specific trajectory led by group leaders. In this system, all group members estimate the position of flocking center by using a consensus algorithm via local communication in order to keep the flocking group connected. Based on the estimated position of flocking center, a leader-follower flocking algorithm is proposed, and its stability is proved. A group of real robots ldquowifibotsrdquo are used to test the feasibility of the algorithm. Experiments show that this leader-follower flocking system can track the desired trajectory led by group leaders.
ISSN:1063-6536
1558-0865
DOI:10.1109/TCST.2008.2009461