Modeling and Control of Formations of Nonholonomic Mobile Robots
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Departmental Papers (MEAM)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
Formation control of mobile robots
graph theory
nonlinear control
Mechanical Engineering
Formation control of mobile robots
graph theory
nonlinear control
Mechanical Engineering
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This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory.We model the team as a triple, (g, r, H), consisting of a group element g that describes the gross position of the lead robot, a set of shape variables r that describe the relative positions of robots, and a control graph H that describes the behaviors of the robots in the formation. Our framework enables the representation and enumeration of possible control graphs and the coordination of transitions between any two formations.
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2001-12-01
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Copyright 2001 IEEE. Reprinted from IEEE Transactions on Robotics and Automation, Volume 17, Number 6, December 2001, pages 905-908. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=21064&puNumber=70 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.