Title :
Control of decentralized geometric formations of mobile robots
Author :
Pruner, E. ; Necsulescu, D. ; Sasiadek, J. ; Kim, B.
Author_Institution :
Dept. of Mech. Eng., Univ. of Ottawa, Ottawa, ON, Canada
Abstract :
Mobile robot formations differ in accordance to the mission, environment and robot abilities. In the case of decentralized control, the ability to achieve the shapes of these formations has to be built in the controllers of each robot. In this paper two types of basic formations are investigated, platoon and V-shape. Leader follower approach is applied for controllers design to drive each robot toward achieving the desired geometric shape of the formation.
Keywords :
control system synthesis; decentralised control; geometry; mobile robots; multi-robot systems; position control; controller design; decentralized geometric formation control; formation geometric shape; leader follower approach; mobile robots; robot abilities; Collision avoidance; Force; Lead; Mobile robots; Robot kinematics; Vehicles; decentralized control; geometric formations; leader-follower approach; mobile robots;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on
Conference_Location :
Miedzyzdrojie
Print_ISBN :
978-1-4673-2121-1
DOI :
10.1109/MMAR.2012.6347812
