Title :
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
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;
Conference_Titel :
Control Conference (ASCC), 2013 9th Asian
Conference_Location :
Istanbul
Print_ISBN :
978-1-4673-5767-8
DOI :
10.1109/ASCC.2013.6606099
