Title :
Distributed formation control of robots with directive visual measurement
Author :
Liu, Shicai ; Tan, Dalong ; Liu, Guangjun
Author_Institution :
Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang, China
Abstract :
In this paper, a formation control algorithm for holonomic mobile robots is developed based on a relative motion vision sensory system using the three-point perspective pose estimation algorithm, without the need for global sensing and communication between robots. This is achieved by employing the velocity variations, instead of actual velocities, as the control inputs. Simulation and experimental results have demonstrated the effectiveness of the proposed control method.
Keywords :
distributed control; image motion analysis; mobile robots; path planning; position control; robot vision; velocity control; directive visual measurement; distributed formation control; holonomic mobile robots; relative motion vision sensory system; three-point perspective pose estimation; Communication system control; Control systems; Distributed control; Machine vision; Mobile communication; Mobile robots; Motion control; Motion estimation; Robot control; Robot sensing systems;
Conference_Titel :
Mechatronics and Automation, 2005 IEEE International Conference
Conference_Location :
Niagara Falls, Ont., Canada
Print_ISBN :
0-7803-9044-X
DOI :
10.1109/ICMA.2005.1626826