Leader-following formation control of multiple mobile robots

CASIA OpenIR > 个人空间

	Leader-following formation control of multiple mobile robots
	Shao, Jinya; Xie, Guangmin; Yu, Junzhi; Wang, Long; Shao, Jinyan
	2005
会议名称	20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05
会议录名称	IEEE International Symposium on Intelligent Control
会议日期	June 27, 2005 - June 29, 2005
会议地点	Limassol, Cyprus
摘要	This paper presents a framework for controlling groups of autonomous mobile robots to achieve predetermined formations based on leader-following approach. A three-level hybrid control architecture is proposed to implement both centralized and decentralized cooperative control. Under such architecture, we decompose the global-level formation control problem of N robots into decentralized control problems between N-1 followers and their designated leader. In the leader-follower control level, two basic controllers are proposed to make the following robot keep relative position with respect to the leader and avoid collisions in the presence of obstacles. Then, graph theory is introduced to formalize specified formation patterns in a simple but effective way, and two types of switching between these formations are also proposed. Numerical simulations and physical robot experiments show the effectiveness of our approach.
关键词	Multiple Mobile Robots
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13154
专题	个人空间
通讯作者	Shao, Jinyan
作者单位	Department of Mechanics and Engineering Science, Center for Systems and Control, Peking University, Beijing, 100871, China
推荐引用方式 GB/T 7714	Shao, Jinya,Xie, Guangmin,Yu, Junzhi,et al. Leader-following formation control of multiple mobile robots[C],2005.