Multiple Robot Formation Control Strategy in Corridor Environments

摘要：

　　According to analysis of motion error based on virtual target tracking in mobile robot,we proposed a simple and effective method for formation control of multiple mobile robots in corridor or like corridor environments.Taking the posture deviation to design control law,we can make the formation control problem of multiple mobile robots be converted into a series of simple and effective motion control strategy for each mobile robot.A unified algorithm framework was given,and then the motion strategies for each robot were designed.The simulation and experiment have demonstrated the feasibility and validity of the proposed method.

关键词： Multiple robots Formation control Virtual structure Location estimation Reformation strategy

作者: Chuanjun Chen Shirong Liu Chaoliang Zhong Botao Zhang

作者单位: Institute of Automation,Hangzhou Dianzi University,Hangzhou,China,310018 Institute of Automation,East China University of Science and Technology,Shanghai,200237

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8507-8512

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）