Title :
Control of decentralized formations of mobile robots in crowded environments
Author :
Pruner, E. ; Necsulescu, D. ; Sasiadek, J.
Author_Institution :
Dept. of Mech. Eng., Univ. of Ottawa, Ottawa, ON, Canada
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 into controllers of each robot. In this paper the use of velocity potential approach for controlling formations of robots in crowded environments is investigated. Several physical experiments and extensive simulations tests were performed and discussed.
Keywords :
decentralised control; mobile robots; position control; crowded environments; decentralized formation control; extensive simulations tests; mobile robot formations; physical experiments; robot abilities; velocity potential approach; Collision avoidance; Mobile robots; Robot kinematics; Shape; Simulation; Vehicles;
Conference_Titel :
Robot Motion and Control (RoMoCo), 2013 9th Workshop on
Conference_Location :
Kuslin
Print_ISBN :
978-1-4673-5510-0
DOI :
10.1109/RoMoCo.2013.6614576
