| A distributed multi-robot formation control method | |
Li, Yuan; Zou, Wei ; Wen, Feng; Yuan, Kui
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| 2011 | |
| 会议名称 | 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 |
| 会议录名称 | IEEE International Conference on Mechatronics and Automation ( ICMA) |
| 页码 | 543-548 |
| 会议日期 | 2011 |
| 会议地点 | Beijing, China |
| 摘要 | Formation control of multiple wheeled robots with nonholonomic constraints and limited acceleration has been studied in this paper. A distributed formation control method taking acceleration into account in Leader-following structure is proposed. The method uses only local sensing information and the velocity information obtained by communication. Little communication through wireless network allows robots to share their velocity information. We also developed an artificial identity mark for large scale multi-robot systems. The identity mark can not only distinguish different robots, but also measure the distance and orientation between the robots. Extensive experiments have been carried out to validate our strategy both in simulation and with real robots. |
| 关键词 | Multi Robot. Distributed Formation Control. Artificial Identity Mark |
| 收录类别 | EI |
| 文献类型 | 会议论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/5224 |
| 专题 | 智能制造技术与系统研究中心_智能机器人 |
| 通讯作者 | Li, Yuan |
| 推荐引用方式 GB/T 7714 | Li, Yuan,Zou, Wei,Wen, Feng,et al. A distributed multi-robot formation control method[C],2011:543-548. |
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| A distributed multi-（298KB） | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 | ||
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