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Control of multi-agent systems based on redundant manipulator global optimization techniques

Sadati, N ; Sharif University of Technology | 2006

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  1. Type of Document: Article
  2. DOI: 10.1109/ICSMC.2006.385239
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2006
  4. Abstract:
  5. In this paper, a new approach for path generation and control of multi-agent systems is proposed. This method is based on global optimization techniques used for solving the inverse kinematic problem of redundant manipulators. Convergence of any performance function such as obstacle avoidance, collision avoidance, and heading angle to its global optimum is guaranteed by introducing a control law which is based on the Pontryagin's Maximum Principle. The efficacy of the proposed algorithm is demonstrated through simulation experiments. © 2006 IEEE
  6. Keywords:
  7. Collision avoidance ; Control theory ; Global optimization ; Inverse kinematics ; Redundant manipulators ; Inverse kinematic problems ; Performance functions ; Multi agent systems
  8. Source: 2006 IEEE International Conference on Systems, Man and Cybernetics, Taipei, 8 October 2006 through 11 October 2006 ; Volume 3 , 2006 , Pages 2499-2504 ; 1062922X (ISSN); 1424401003 (ISBN); 9781424401000 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/4274245