Formation Control of Mobile Robots | Zendy

Dang Binh Nguyen | Zendy; K.D. Do | Zendy

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Formation Control of Mobile Robots

Author(s) -

Dang Binh Nguyen,

K.D. Do

Publication year - 2006

Publication title -

international journal of computers communications and control

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.422

H-Index - 33

eISSN - 1841-9844

pISSN - 1841-9836

DOI - 10.15837/ijccc.2006.3.2294

Subject(s) - mobile robot , constructive , computer science , nonholonomic system , controller (irrigation) , robot , infinity , control (management) , control theory (sociology) , collision , mathematics , artificial intelligence , process (computing) , mathematical analysis , computer security , agronomy , biology , operating system

A constructive method is presented to design cooperative controllers that force a group of N mobile robots to achieve a particular formation in terms of shape and orientation while avoiding collisions between themselves. The control devel- opment is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs. The proposed controller development is also extended to formation control

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