Formation control for wheeled mobile robots based on consensus protocol

Author

Feng, Shulin ; Zhang, Huanshui

Author_Institution

Sch. of Control Sci. & Eng., Shandong Univ., Jinan, China

fYear

2011

fDate

6-8 June 2011

Firstpage

696

Lastpage

700

Abstract

In this paper, consensus protocol is presented for formation control of the mobile robots. In allusion to the mobile robot platform, a local computer which is used as controller and the AmigoBot mobile robots set up a wireless local area network (WLAN), transmitting data by means of wireless communication to implement the remote control of robots. The kinematics mathematical model and the position and orientation error model of the mobile robot is presented, making use of consensus protocol to implement the column and triangular formation control. Simulation experiment and real robot experiment results demonstrate that the proposed control algorithm is feasible and effective.

Keywords

collision avoidance; mobile robots; protocols; robot kinematics; telerobotics; wireless LAN; AmigoBot mobile robots; consensus protocol; formation control algorithm; kinematics mathematical model; orientation error model; position control; remote control; triangular formation control; wheeled mobile robots; wireless communication; wireless local area network; Conferences; Kinematics; Mathematical model; Mobile robots; Protocols; Robot kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2011 IEEE International Conference on

Conference_Location

Shenzhen

Print_ISBN

978-1-4577-0268-6

Electronic_ISBN

978-1-4577-0269-3

Type

conf

DOI

10.1109/ICINFA.2011.5949083

Filename

5949083