DocumentCode
2164178
Title
Formation control with potential functions and Newton´s iteration
Author
Hanay, Y. Sinan ; Hunerli, H. Volkan ; Koksal, M. Ilter ; Samiloglu, Andac T. ; Gazi, Veysel
Author_Institution
Dept. of Electr. & Electron. Eng., TOBB Univ. of Econ. & Technol. (ETU), Ankara, Turkey
fYear
2007
fDate
2-5 July 2007
Firstpage
4584
Lastpage
4590
Abstract
In this study, we analyze formation control (formation of a geometrical shape) of an autonomous multi-robot system with the use of artificial potential functions and Newton´s iteration. The method is independent of the low-level vehicle dynamics of the robots and therefore it can be applied to different type of robots. We also perform numerical simulations to examine the performance of the method.
Keywords
Newton method; computational geometry; mobile robots; multi-robot systems; robot dynamics; Newton iteration; artificial potential functions; autonomous multirobot system; geometrical shape formation control; low-level vehicle dynamics; numerical simulations; Convergence; Mathematical model; Oscillators; Polynomials; Robot kinematics; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2007 European
Conference_Location
Kos
Print_ISBN
978-3-9524173-8-6
Type
conf
Filename
7068672
Link To Document