A Leader-following Formation Control of Multiple Mobile Robots with Obstacle

被引：0

作者：

Luo, Jing ^{[1
]}

Liu, Cheng-Lin ^{[1
]}

Liu, Fei ^{[1
]}

机构：

[1] Jiangnan Univ, Inst Automat, Minist Educ, Key Lab Adv Proc Control Light Ind, Wuxi 214122, Peoples R China

来源：

2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION | 2015年

关键词：

multiple mobile robots; leader-follower formation; obstacle avoidance; AVOIDANCE;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

By combining the Polar Histogram obstacle avoidance method, a leader-follower coordination formation control algorithm is proposed to solve the formation control problem of multiple mobile robots. Based on the formation control in leader-follower structure, a virtual-follower robot is introduced, and the formation control problem can be regarded as the follower robots tracking the virtual-follower robot. With the sensor technology, the corresponding path for robot movement strategy is provided in a simple or complicated environment so as to achieve the purpose of real-time navigation. With two-wheel differential robot Qbot as the investigation object, semi-physical simulation platform is built for simulation experiments. The simulation results show that the method can effectively achieve the coordination formation and obstacle avoidance control of multi-robot system.

引用

页码：2153 / 2158

页数：6

共 24 条

[1] Guest editorial - Advances in multirobot systems [J].