Distributed formation building algorithms for groups of wheeled mobile robots

被引：29

作者：

Savkin, Andrey V. ^{[1
]}

Wang, Chao ^{[1
]}

Baranzadeh, Ahmad ^{[1
]}

Xi, Zhiyu ^{[1
]}

Nguyen, Hung T. ^{[2
]}

机构：

[1] Univ New S Wales, Sch Elect Engn & Telecommun, Sydney, NSW 2052, Australia

[2] Univ Technol Sydney, Fac Engn & Informat Technol, Sydney, NSW 2007, Australia

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2016年 / 75卷

基金：

澳大利亚研究理事会;

关键词：

Decentralized control; Multi-robot networks; Formation stabilization; Flocking; Wheeled robots; Non-holonomic robots; Autonomous vehicles; COORDINATED COLLECTIVE MOTION; BIOLOGICALLY INSPIRED METHOD; DECENTRALIZED CONTROL; SHAPE FORMATION; NAVIGATION; TRACKING; CONSENSUS; AGENTS; TARGET;

D O I：

10.1016/j.robot.2015.08.006

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper presents a method for decentralized flocking and global formation building for a network of unicycle-like robots described by the standard kinematics equations with hard constraints on the robots linear and angular velocities. We propose decentralized motion coordination control algorithms for the robots so that they collectively move in a desired geometric pattern from any initial position. There are no predefined leaders in the group and only local information is required for the control. The effectiveness of the proposed control algorithms is illustrated via computer simulations and experiments with real robots. (C) 2015 Published by Elsevier B.V.

引用

页码：463 / 474

页数：12

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