In this paper we describe a novel decentralized control strategy to realize formations of mobile robots. We first describe a methodology to obtain a formation with the shape of a regular polygon. Then, applying a bijective coordinates transformation, we show how to obtain a formation with an arbitrary shape. Our control strategy is based on the interaction of some artificial potential fields, but it is not affected by the problem of local minima.
Potential Based Control Strategy for Arbitrary Shape Formations of Mobile Robots / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - ELETTRONICO. - (2009), pp. 3762-3767. (Intervento presentato al convegno 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 tenutosi a St. Louis, MO, USA nel 10-15 Ottobre 2009) [10.1109/IROS.2009.5354707].
Potential Based Control Strategy for Arbitrary Shape Formations of Mobile Robots
SABATTINI, Lorenzo;SECCHI, Cristian;FANTUZZI, Cesare
2009
Abstract
In this paper we describe a novel decentralized control strategy to realize formations of mobile robots. We first describe a methodology to obtain a formation with the shape of a regular polygon. Then, applying a bijective coordinates transformation, we show how to obtain a formation with an arbitrary shape. Our control strategy is based on the interaction of some artificial potential fields, but it is not affected by the problem of local minima.Pubblicazioni consigliate
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