A new procedure for multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control: implementation and analysis

Abstract

This is the second of a two-part paper that investigates the multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control. In this part, a multiple mobile robotsimulation system based on MuRoS is used to simulate the real multiple mobile robots running environment. Furthermore, an analysis method of the flocking system based on ‘minimum stable time’ is proposed, which can be employed to analyse the performance of multi-mode sequential flocking of mobile robots team. At last, bench tests have been comprehensively conducted to demonstrate the efficacy of the proposed procedures on efficient collision and obstacle avoidance in flocking motion, which were described in the first part.