Consensus target tracking in multi-robot systems

Authors:
Zongyao Wang;Dongbing Gu;Tao Meng;Yanzhi Zhao
Affiliations:
Surrey International Institute, Dongbei University of Finance and Economics, Dalian, China;School of Computer Science and Electronic Engineering, University of Essex, Colchester, UK;Surrey International Institute, Dongbei University of Finance and Economics, Dalian, China;Surrey International Institute, Dongbei University of Finance and Economics, Dalian, China
Venue:
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Year:
2010

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Abstract

By sharing collective sensor information, individuals in biological flocking systems have more opportunities for finding food and avoiding predators. This paper introduces a distributed robot flocking system with similar behaviour to biological flocking systems. In the developed flocking system, robots cooperatively track a target by using consensus algorithm. The consensus algorithm enables the robots to estimate locally the position of a target. The performance of the flocking system is tested via simulations. The results demonstrate that the flocking system is flexible, reliable and feasible for practical uses.