In this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The for- mation shape and the avoidance of collisions between robots are ob- tained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. More- over, results of simulations and experiments on real robots are provided for validation purposes.
Edge-Weighted Consensus Based Formation Control Strategy With Collision Avoidance / Falconi, R.; Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare; Melchiorri, C.. - In: ROBOTICA. - ISSN 0263-5747. - STAMPA. - 33:2(2015), pp. 332-347. [10.1017/S0263574714000368]
Edge-Weighted Consensus Based Formation Control Strategy With Collision Avoidance
SABATTINI, Lorenzo;SECCHI, Cristian;FANTUZZI, Cesare;
2015
Abstract
In this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The for- mation shape and the avoidance of collisions between robots are ob- tained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. More- over, results of simulations and experiments on real robots are provided for validation purposes.File | Dimensione | Formato | |
---|---|---|---|
15Robotica.pdf
Accesso riservato
Tipologia:
Versione pubblicata dall'editore
Dimensione
800.77 kB
Formato
Adobe PDF
|
800.77 kB | Adobe PDF | Visualizza/Apri Richiedi una copia |
Pubblicazioni consigliate
I metadati presenti in IRIS UNIMORE sono rilasciati con licenza Creative Commons CC0 1.0 Universal, mentre i file delle pubblicazioni sono rilasciati con licenza Attribuzione 4.0 Internazionale (CC BY 4.0), salvo diversa indicazione.
In caso di violazione di copyright, contattare Supporto Iris