DocumentCode
1672302
Title
Robot formation control based on a multi-potential approach
Author
Cifuentes, Santiago ; Giron-Sierra, Jose M. ; Jimenez, Juan F.
Author_Institution
Dept. of Comput. Archit. & Automatics, Madrid Complutense Univ., Madrid, Spain
fYear
2010
Firstpage
1982
Lastpage
1987
Abstract
This paper proposes a new mobile robot formation control based on a multi-potential approach. The proposed method provides a pure reactive local mechanism that allows multiple robots to fit into formation pattern. Robots can deal with partially unknown scenarios and different formation patterns. The work is aimed to non-holonomic vehicles, constrains in speed and turn radius are considered.
Keywords
mobile robots; position control; mobile robot; multipotential approach; nonholonomic vehicles; reactive local mechanism; robot formation control; Collision avoidance; Equations; Mobile robots; Navigation; Turning; Vehicles; mobile robot; non-holonomic robot; potential field; robot formation;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location
Gyeonggi-do
Print_ISBN
978-1-4244-7453-0
Electronic_ISBN
978-89-93215-02-1
Type
conf
Filename
5669758
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