Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip

Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip

An adaptive formation control law for non-holonomic 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 translationa...

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Bibliographic Details
Main Authors: Cai Ze-Su, Zhao Jie, Cao Jian
Format: Article
Language:English
Published: SAGE Publishing 2012-11-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/52768
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spelling doaj-59231be85fa344c4b5a2a4a1d934574e2020-11-25T03:34:12ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142012-11-01910.5772/5276810.5772_52768Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-SlipCai Ze-Su0Zhao Jie1Cao Jian2 State Key Laboratory Robotics and System, Harbin Institute of Technology, Harbin, China State Key Laboratory Robotics and System, Harbin Institute of Technology, Harbin, China School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, ChinaAn adaptive formation control law for non-holonomic 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.https://doi.org/10.5772/52768
collection DOAJ
language English
format Article
sources DOAJ
author Cai Ze-Su
Zhao Jie
Cao Jian
spellingShingle Cai Ze-Su
Zhao Jie
Cao Jian
Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip
International Journal of Advanced Robotic Systems
author_facet Cai Ze-Su
Zhao Jie
Cao Jian
author_sort Cai Ze-Su
title Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip
title_short Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip
title_full Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip
title_fullStr Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip
title_full_unstemmed Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip
title_sort formation control and obstacle avoidance for multiple robots subject to wheel-slip
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2012-11-01
description An adaptive formation control law for non-holonomic 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.
url https://doi.org/10.5772/52768
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AT zhaojie formationcontrolandobstacleavoidanceformultiplerobotssubjecttowheelslip
AT caojian formationcontrolandobstacleavoidanceformultiplerobotssubjecttowheelslip
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