Leader-following formation control of multiple mobile robots
文献类型：会议论文
| 作者 | Shao, Jinya; Xie, Guangmin; Yu, Junzhi ; Wang, Long; Shao, Jinyan
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| 出版日期 | 2005 |
| 会议日期 | June 27, 2005 - June 29, 2005 |
| 会议地点 | Limassol, Cyprus |
| 关键词 | Multiple Mobile Robots |
| 英文摘要 | This paper presents a framework for controlling groups of autonomous mobile robots to achieve predetermined formations based on leader-following approach. A three-level hybrid control architecture is proposed to implement both centralized and decentralized cooperative control. Under such architecture, we decompose the global-level formation control problem of N robots into decentralized control problems between N-1 followers and their designated leader. In the leader-follower control level, two basic controllers are proposed to make the following robot keep relative position with respect to the leader and avoid collisions in the presence of obstacles. Then, graph theory is introduced to formalize specified formation patterns in a simple but effective way, and two types of switching between these formations are also proposed. Numerical simulations and physical robot experiments show the effectiveness of our approach. |
| 会议录 | IEEE International Symposium on Intelligent Control
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13154]  |
| 专题 | 自动化研究所_个人空间 |
| 通讯作者 | Shao, Jinyan |
| 作者单位 | Department of Mechanics and Engineering Science, Center for Systems and Control, Peking University, Beijing, 100871, China |
| 推荐引用方式 GB/T 7714 | Shao, Jinya,Xie, Guangmin,Yu, Junzhi,et al. Leader-following formation control of multiple mobile robots[C]. 见:. Limassol, Cyprus. June 27, 2005 - June 29, 2005. |
入库方式： OAI收割
来源：自动化研究所
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