A method for decentralized formation building for unicycle-like mobile robots

Author

Savkin, Andrey V. ; Chao Wang ; Baranzadeh, Ahmad ; Zhiyu Xi ; Nguyen, Hung T.

Author_Institution

Sch. of Electr. Eng. & Telecommun., Univ. of New South Wales, Sydney, NSW, Australia

fYear

2013

fDate

23-26 June 2013

Firstpage

1

Lastpage

5

Abstract

The paper presents a method for decentralized flocking and global formation building for a network of unicycles described by the standard kinematics equations with hard constraints on the vehicles linear and angular velocities. We propose decentralized motion coordination control algorithms for the robots so that they collectively move in a desired geometric pattern from any initial position. There are no predefined leaders in the group and only local information is required for the control. The effectiveness of the proposed control algorithms is illustrated via computer simulations.

Keywords

decentralised control; mobile robots; motion control; robot kinematics; velocity control; angular velocity; decentralized flocking; decentralized formation building; decentralized motion coordination control; geometric pattern; hard constraint; standard kinematics equation; unicycle-like mobile robot; unicycles; vehicles linear velocity; Decentralized control; Educational institutions; Mobile robots; Navigation; Robot kinematics; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ASCC), 2013 9th Asian

Conference_Location

Istanbul

Print_ISBN

978-1-4673-5767-8

Type

conf

DOI

10.1109/ASCC.2013.6606099

Filename

6606099