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Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip : Controllo di formazione e evitamento di ostacoli per robot multipli soggetti a slittamento delle ruote, in: International Journal of Advanced Robotic Systems
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Author Ze-su, Cai; Zhao, Jie; Jian, Cao
Published  InTech Open Access Publisher, 2012
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Abstract An adaptive formation control law for nonholonomic
dynamic robots based on an artificial potential
function method in the presence of lateral slip and
parametric uncertainties is presented to organize multiple
robots into formation. It is formulated to achieve the
smooth control of the translational and rotational motion
of a group of mobile robots while keeping a prescribed
formation and avoiding inter‐robot and obstacle
collisions. In order to improve the formation control
method effectively and reduce the distortion shape, the
virtual leader‐following method is proposed for every
robot and an improved optimal assignment algorithm is
used to solve multi‐targets optimal assignment for the
formation problem. Simulation results are provided to
validate the theoretical results.
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no fulltext found International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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Documents: International Journal of Advanced Robotic Systems
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Time of publication 2012
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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