Vision-based formation control of mobile robots

被引：1
作者：
Shicai Liu
Dalong Tan
Guangjun Liu
机构：
[1] Chinese Academy of Sciences,Shenyang Institute of Automation
[2] Chinese Academy of Sciences,Graduate School
[3] Ryerson University,Department of Aerospace Engineering
来源：
Journal of Control Theory and Applications | 2005年 / 3卷 / 2期
关键词：
Formation control; Obstacle avoidance; Mobile robot; Local control; Relative motion states;
D O I：
10.1007/s11768-005-0012-7
中图分类号：
学科分类号：
摘要：
In this paper, a formation control algorithm and an obstacle avoidance control algorithm for mobile robots are developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the need for global sensing and communication between robots. This is achieved by employing the velocity variation, instead of actual velocities, as the control inputs. Simulation and experimental results have demonstrated the effectiveness of the proposed control methods.
引用
收藏
页码：173 / 180
页数：7
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