Flocking Control of Mobile Robots via Simulated Annealing Algorithm

摘要

A flocking control method via simulated anneal algorithm is proposed in this paper. Motivated by the defining feature of simulated anneal algorithm, flocking control of mobile robots is considered as a problem of minimizing the system energy. A positive cost function is designed to represent the energy of the flocking state. With simulated anneal algorithm, the desired position for each robot with minimum energy is searched in finite time at each sampling period. A motion control law is designed finally to drive the robots toward to the desired position. Experiment is implemented to illustrate the proposed flocking method. Results show that the five robots have displayed the velocity matching and flock centering property.