Title :
Formation Control of Multiple Mobile Robots Based on Orientation Bias
Author :
Chen, Xue-Bo ; Xu, Wang-bao
Author_Institution :
Sch. of Electron. & Inf. Eng., Univ. of Sci. & Technol. Liaoning, Anshan
Abstract :
The state coordination between robots in a multi-robot system is a crucial problem. In order to have a proper relative position and orientation of robots in a moving multi-robot formation, a coordination method is presented by using discrete orientation bias control. A moving structure graph for the formation is pre-specified. Based on the graph, a model of the formation is defined by two new kinds of artificial potential functions acting on each robot. The adjacent pair-wise robots in the formation are described in the cooperative leader-following framework without orientation constraints. The proposed control makes the global potential function maximum when the orientation bias between robots is zero. Therefore, the formation will follow its graph. In this case, the stability of the formation is proofed in the sense of Lyapunov. A simulation result of a marching square array with 9 robots is illustrated to validate the control with orientation bias.
Keywords :
Lyapunov methods; graph theory; mobile robots; multi-robot systems; position control; adjacent pair-wise robots; artificial potential functions; cooperative leader-following framework; discrete orientation bias control; formation control; global potential function; moving structure graph; multiple mobile robots; multirobot formation; orientation bias; Automatic control; Control systems; Mobile robots; Multirobot systems; Robot control; Robot kinematics; Robot sensing systems; Stability; Switches; Unmanned aerial vehicles; coordination; formation control; multi-robot system; pair-wise;
Conference_Titel :
Robotics, Automation and Mechatronics, 2008 IEEE Conference on
Conference_Location :
Chengdu
Print_ISBN :
978-1-4244-1675-2
Electronic_ISBN :
978-1-4244-1676-9
DOI :
10.1109/RAMECH.2008.4681383