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
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;
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
DOI :
10.1109/IROS.2009.5354707
