A new procedure for multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control: mode description and integration principle

Abstract

This is the first of two-part paper that investigates the multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control. To provide a new procedure to avoid collisions and obstacles in the process of multi-robot's sequential flocking, this paper presents the design of a multi-model flocking control for multiple mobile robots in terms of behaviour-based robotics. Some nature-imitating behaviour modes are integrated into the new sequential flocking strategy, including single-robot potential-based behaviour, singlerobot wall-following behaviour, multi-robot rigid-body bouncing behaviour, multi-robot pathtracking behaviour and their fusion state. In this way, the efficient collision and obstacle avoidance in flocking motion can be achieved.

Flocking Behavior via Leader’s Backstepping on Nonholonomic Robot Group

“…To be convenient for investigation of the latter part, its strategy is concisely presented in this section [34].…”

“…With potentialbased flocking being the primary method [34,35], Backstepping mechanism is introduced for Leader robot which can lead the flock to the goal swiftly, while attaining a trajectory with a smooth transition.…”