In this paper we describe a novel decentralized control strategy to realize formations of mobile robots. We first describe how to design artificial potential fields to ob- tain a formation with the shape of a regular polygon. We provide a formal proof of the asymptotic stability of the sys- tem, based on the definition of a proper Lyapunov function. We also prove that our control strategy is not affected by the problem of local minima. Then, we exploit a bijective coordinate transformation to deform the polygonal forma- tion, thus obtaining a completely arbitrarily shaped forma- tion. Simulations and experimental tests are provided to val- idate the control strategy.

Arbitrary shaped formations of mobile robots: Artificial Potential fields and coordinate transformation / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - In: AUTONOMOUS ROBOTS. - ISSN 0929-5593. - ELETTRONICO. - 30:4(2011), pp. 385-397. [10.1007/s10514-011-9225-4]

Arbitrary shaped formations of mobile robots: Artificial Potential fields and coordinate transformation

SABATTINI, Lorenzo;SECCHI, Cristian;FANTUZZI, Cesare
2011

Abstract

In this paper we describe a novel decentralized control strategy to realize formations of mobile robots. We first describe how to design artificial potential fields to ob- tain a formation with the shape of a regular polygon. We provide a formal proof of the asymptotic stability of the sys- tem, based on the definition of a proper Lyapunov function. We also prove that our control strategy is not affected by the problem of local minima. Then, we exploit a bijective coordinate transformation to deform the polygonal forma- tion, thus obtaining a completely arbitrarily shaped forma- tion. Simulations and experimental tests are provided to val- idate the control strategy.
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Arbitrary shaped formations of mobile robots: Artificial Potential fields and coordinate transformation / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - In: AUTONOMOUS ROBOTS. - ISSN 0929-5593. - ELETTRONICO. - 30:4(2011), pp. 385-397. [10.1007/s10514-011-9225-4]
Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11380/649599
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