DocumentCode
2689888
Title
Potential based control strategy for arbitrary shape formations of mobile robots
Author
Sabattini, Lorenzo ; Secchi, Cristian ; Fantuzzi, Cesare
Author_Institution
Dept. of Sci. & Methods of Eng., Univ. of Modena & Reggio Emilia, Reggio Emilia, Italy
fYear
2009
fDate
10-15 Oct. 2009
Firstpage
3762
Lastpage
3767
Abstract
In this paper we describe a novel decentralized control strategy to realize formations of mobile robots. We first describe a methodology to obtain a formation with the shape of a regular polygon. Then, applying a bijective coordinates transformation, we show how to obtain a formation with an arbitrary shape. Our control strategy is based on the interaction of some artificial potential fields, but it is not affected by the problem of local minima.
Keywords
distributed control; mobile robots; multivariable control systems; arbitrary shape formations; artificial potential fields; bijective coordinates transformation; decentralized control strategy; local minima; mobile robots; potential based control strategy; Animals; Control systems; Distributed control; Intelligent robots; Laser feedback; Mobile robots; Robot kinematics; Shape control; USA Councils; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location
St. Louis, MO
Print_ISBN
978-1-4244-3803-7
Electronic_ISBN
978-1-4244-3804-4
Type
conf
DOI
10.1109/IROS.2009.5354707
Filename
5354707
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