Flocking control of Amigobots with Newton's method

摘要

The flocking control problem of Amigobots is addressed in this paper. Amigobots are aimed to be flocked with a control algorithm based on Newton method. Different from the classical flocking control algorithm, the model of particles (agents) are not linear. Amigobot is a kind of nonholonomic system that cannot be transformed into a linear form. Newton's method is adopted to design a flocking control law that can reduce the artificial evaluation function on the relative positions between the neighbouring Amigobots. Motion control laws are then proposed to control the Amigobots. Experiment results show the flocking properties and illustrate the effectiveness of the designed flocking method.