NDLI: A Tabu Search Based Flocking Algorithm of Motion Control for Multiple Mobile Robots

Content Provider	IEEE Xplore Digital Library
Author	Zhang Xin Maode, Y. Ju Yongfeng
Copyright Year	2012
Abstract	In order to enhance the autonomous navigation ability of multiple mobile robots, a tabu search based leader follower flocking algorithm is proposed to overcome the local minima problem and realize the autonomous navigation in unknown obstacle environments. Leader robot is capable of avoiding obstacles and seeking goal by tracking virtual sub goals generated by tabu search algorithm, follower robots which are led by leader robot keep formation and cohesion under the control of flocking algorithm for motion control. The whole flocking system is able to go through obstacle environments and reach the preset goal without collision and separation. A simulation example in complex environment validates the correctness and effectiveness of the proposed algorithm.
Starting Page	48
Ending Page	52
File Size	685502
Page Count	5
File Format	PDF
ISBN	9781467304702
DOI	10.1109/ICICTA.2012.19
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-01-12
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Algorithm design and analysis Multiple Mobile Robots Flocking Algorithm Navigation Heuristic algorithms Motion Control Virtual Sub-goal Tabu Search Mobile robots Collision avoidance
Content Type	Text
Resource Type	Article

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A Tabu Search Based Flocking Algorithm of Motion Control for Multiple Mobile Robots