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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Jinyan Shao Guangming Xie Junzhi Yu Long Wang |
| Copyright Year | 2005 |
| Description | Author affiliation: Dept. of Mechanics & Eng. Sci., Peking Univ., Beijing (Jinyan Shao; Guangming Xie; Junzhi Yu; Long Wang) |
| Abstract | 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 |
| Starting Page | 808 |
| Ending Page | 813 |
| File Size | 339124 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780389360 |
| ISSN | 21589860 |
| DOI | 10.1109/.2005.1467118 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2005-06-27 |
| Publisher Place | Cyprus |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Mobile robots Robot kinematics Communication system control Shape control Centralized control Distributed control Robot sensing systems Control systems Tree graphs Graph theory |
| Content Type | Text |
| Resource Type | Article |
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