Vision-Based Triangular Formation Control of Mobile Robots
In this paper, we study a vision-based triangular formation control problem for a group of three mobile robots. The control objective is to enable the robots to maintain a desired triangular formation via local relative measurements. Cameras mounted on the robots are employed to make relative measurements among the robots including distances and bearing angles. The relative measurements made by each individual robot are integrated via an information exchange method to obtain a complete description of the formation. The group dynamics governing the evolution of the robot states are deduced to guide the controller design. Experimental results are provided to demonstrate the effectiveness of the proposed formation control scheme.
Visual servo control formation control
Joshua Cook Guoqiang Hu
Cessna Aircraft Company in Wichita, KS, USA EXQUISITUS, Centre for E-City, School of Electrical and Electronics Engineering, Nanyang Technologic
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
5146-5151
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）