Modified null space strategy to solve consensus problem

In the domain of multi robot systems, several applications necessitate agreement of all the individual robots at consensus/rendezvous point. Such an agreement can only be achieved by means of a control strategy. However, presence ofobstacles in the navigation-environment makes the achievement of con...

Full description

Saved in:
Bibliographic Details
Published in:Kuwait journal of science 2016-10, Vol.43 (4), p.82-94
Main Authors: Sharma, Aman, Kurapati, Naga Ganesh, Jagannath, Ravi Prasad K., Wira, Patrice, Lal, Shyam, Narasimhadhan, Adapa V.
Format: Article
Language:English
Subjects:
Computer Science
Signal and Image Processing
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In the domain of multi robot systems, several applications necessitate agreement of all the individual robots at consensus/rendezvous point. Such an agreement can only be achieved by means of a control strategy. However, presence ofobstacles in the navigation-environment makes the achievement of control objective floundering. This paper accentuatesthe failure of extant null space based control strategy to circumvent rectangular obstacles by means of mathematicalproofs and extensive simulation studies. To over-come these short-comings, a modified null space based control strategyis proposed to solve the consensus problem. Proposed control strategy is tested in a complex environment consistingof rectangular and concave obstacles by means of computer simulations. Finally, a qualitative comparative analysis ispresented to contrast the differences between conventional null space based strategy and the proposed modified nullspace strategy.
ISSN:2307-4108