Abstract In this paper, we investigate robot failure problem in mobile robot formation. A recursive and distributed self-healing algorithm is proposed to restore network topology when one or more robots fail. Firstly, a switched topology control method is introduced to restore the synchronization and connectivity of mobile robot network recursively. Then, a negotiation mechanism is further presented which achieves individual control in switched topology process. This mechanism only needs local information interactions between neighbors. Finally, the effectiveness of the proposed algorithm is validated by results of both simulations and real experiments.


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    Title :

    Switched Topology Control and Negotiation of Distributed Self-healing for Mobile Robot Formation


    Contributors:
    Ju, Jianjun (author) / Liu, Zhe (author) / Chen, Weidong (author) / Wang, Jingchuan (author)


    Publication date :

    2014-01-01


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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