DocumentCode
2123383
Title
Control of decentralized geometric formations of mobile robots
Author
Pruner, E. ; Necsulescu, D. ; Sasiadek, J. ; Kim, B.
Author_Institution
Dept. of Mech. Eng., Univ. of Ottawa, Ottawa, ON, Canada
fYear
2012
fDate
27-30 Aug. 2012
Firstpage
627
Lastpage
632
Abstract
Mobile robot formations differ in accordance to the mission, environment and robot abilities. In the case of decentralized control, the ability to achieve the shapes of these formations has to be built in the controllers of each robot. In this paper two types of basic formations are investigated, platoon and V-shape. Leader follower approach is applied for controllers design to drive each robot toward achieving the desired geometric shape of the formation.
Keywords
control system synthesis; decentralised control; geometry; mobile robots; multi-robot systems; position control; controller design; decentralized geometric formation control; formation geometric shape; leader follower approach; mobile robots; robot abilities; Collision avoidance; Force; Lead; Mobile robots; Robot kinematics; Vehicles; decentralized control; geometric formations; leader-follower approach; mobile robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Methods and Models in Automation and Robotics (MMAR), 2012 17th International Conference on
Conference_Location
Miedzyzdrojie
Print_ISBN
978-1-4673-2121-1
Type
conf
DOI
10.1109/MMAR.2012.6347812
Filename
6347812
Link To Document