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A distributed multi-robot formation control method
Li, Yuan; Zou, Wei; Wen, Feng; Yuan, Kui
2011
Conference Name2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Source PublicationIEEE International Conference on Mechatronics and Automation ( ICMA)
Pages543-548
Conference Date2011
Conference PlaceBeijing, China
AbstractFormation 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.
KeywordMulti Robot. Distributed Formation Control. Artificial Identity Mark
Indexed ByEI
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/5224
Collection智能制造技术与系统研究中心_智能机器人
Corresponding AuthorLi, Yuan
Recommended Citation
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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