Title :
Discrete event systems based formation control framework to coordinate multiple nonholonomic mobile robots
Author :
Gamage, Gayan W. ; Mann, George K I ; Gosine, Raymond G.
Author_Institution :
Fac. of Eng. & Appl. Sci., Memorial Univ. of Newfoundland, St. John´´s, NL, Canada
Abstract :
This paper describes a leader-follower based formation control framework to coordinate multiple nonholonomic mobile robots. The proposed strategy deploys a control theoretic bottom-up approach where, continuous controllers are coordinated by a supervisory controlled discrete event system. All the mobile robots are required to navigate in an obstacle populated environment. And the followers keep a predetermined geometric formation with the leader while being adaptable to the constraints imposed by obstacles on the environment. The low level control is achieved by a set of behavior based controller with a high-level discrete event system that manages the dynamic interaction with the external environment. The use of discrete event systems reflects a modular manageable system with the potential for scalability and reusability. The proposed system is implemented through simulation and the results are shown to verify its operation.
Keywords :
control theory; discrete event systems; mobile robots; control framework formation; control theoretic bottom up approach; discrete event systems based; dynamic interaction external environment; low level control; modular manageable system; multiple nonholonomic mobile robots; predetermined geometric formation; Control systems; Discrete event systems; Intelligent robots; Linear feedback control systems; Mobile robots; Navigation; Nonlinear dynamical systems; Robot kinematics; Scalability; Supervisory control; discrete event systems (DES); hybrid control; multi-robot formation; nonholonomic mobile robots; nonlinear control;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354788