Title :
Robot formation control based on a multi-potential approach
Author :
Cifuentes, Santiago ; Giron-Sierra, Jose M. ; Jimenez, Juan F.
Author_Institution :
Dept. of Comput. Archit. & Automatics, Madrid Complutense Univ., Madrid, Spain
Abstract :
This paper proposes a new mobile robot formation control based on a multi-potential approach. The proposed method provides a pure reactive local mechanism that allows multiple robots to fit into formation pattern. Robots can deal with partially unknown scenarios and different formation patterns. The work is aimed to non-holonomic vehicles, constrains in speed and turn radius are considered.
Keywords :
mobile robots; position control; mobile robot; multipotential approach; nonholonomic vehicles; reactive local mechanism; robot formation control; Collision avoidance; Equations; Mobile robots; Navigation; Turning; Vehicles; mobile robot; non-holonomic robot; potential field; robot formation;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
