Title :
A formation control approach with autonomous navigation of multi-robot system in unknown environment
Author :
Weining, Lu ; Tao, Zhang ; Jun, Yang ; Xueqian, Wang
Author_Institution :
Department of Automation, School of Information Science and Technology, Tsinghua University, Beijing, 100084, China
Abstract :
In this paper, a formation control approach with autonomous navigation of multi-robot system is proposed, which can be adopted for the distributed exploration in unknown environment. This proposed method is the combination of the leader-follower formation control, the Bug2 algorithm and the VFH algorithm, which ensures the multi-robot system can find a free path (if it exists) from start to end in unknown environment. The proposed method has a great potential value in practical application. The effectiveness of the proposed method has been verified through the simulation in the paper.
Keywords :
Algorithm design and analysis; Heuristic algorithms; Multi-robot systems; Navigation; Robot kinematics; Robot sensing systems; Autonomous Navigation; Formation Control; Multi-robot System; Unknown Environment;
Conference_Titel :
Control Conference (CCC), 2015 34th Chinese
Conference_Location :
Hangzhou, China
DOI :
10.1109/ChiCC.2015.7260455
