Solution of the formation guidance in structured static environments is presented in this paper. It is assumed that high level planner is available, which generates collision free trajectory for the leader robot. Leader robot is forced to track generated trajectory, while followers' trajectories are generated based on the trajectory realized by the real leader. Real environments contain large number of static obstacles, which can be arbitrarily positioned. Hence, formation switching becomes necessary in cases when followers can collide with obstacles. In order to ensure trajectory tracking, as well as object avoidance, control structure with several controllers of different roles (trajectory tracking, obstacle avoiding, vehicle avoiding and combined controller) has been adopted. Kinematic model of differentially driven two-wheeled mobile robot is assumed. Simulation results show the efficiency of the proposed approach.


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    Title :

    An algorithm for formation control of mobile robots


    Contributors:

    Publication date :

    2013-01-01


    Remarks:

    Serbian Journal of Electrical Engineering (2013) 10(1):59-72 ; ISSN: 1451-4869


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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