期刊名称：International Journal on Electrical Engineering and Informatics
印刷版ISSN：2085-6830
出版年度：2014
卷号：6
期号：4
DOI：10.15676/ijeei.2014.6.4.8
出版社：School of Electrical Engineering and Informatics
摘要：The purpose of this paper is to present experiment results on theimplementation of consensus algorithm on a group of humanoid robots. The experimentin this work is based on some previous works on distributed control of robotic networksand distributed consensus in multi-vehicle cooperative control. According to Ren, aconsensus may occur if communication topology between the robots forms a spanningtree. The existence of some shared informations is a necessary condition for thisalgorithm. Further, a consensus may occur if the topology of communication among therobots forms a spanning tree. However, to apply the algorithm on a group of humanoidrobots we need some modification on the original algorithm. A new algorithm isproposed by adding a new damping variable (β) on original algorithm to make a groupof humanoid robots move synchronously. The experiment of the new consensusalgorithm is tested on two topologies, which are leader-follower and leaderlesstopology. This research concludes that consensus in a group of humanoid robot can beachieved by inducing damping variable in original equation.
