A framework for controlling groups of autonomous mobile vehicles to achieve predetermined formations based on a leader-following approach is presented. A three-level hybrid control architecture is proposed to implement both centralised and decentralised cooperative control. Under such architecture, the global-level formation control problem of n vehicles is decomposed into decentralised control problems between n-1 pairs of follower and their designated leader. In the leader-follower control level, two basic controllers are proposed to make the following robot keep a relative position with respect to the leader and avoid collisions in the presence of obstacles. Then, graph theory is introduced to formalise specified formation patterns in a simple but effective way, and two types of switching between these formations are also proposed. Numerical simulations and physical robot experiments show the effectiveness of our approach.


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    Title :

    Leader-following formation control of multiple mobile vehicles


    Contributors:
    Shao, J. (author) / Xie, G. (author) / Wang, L. (author)

    Published in:

    Publication date :

    2007


    Size :

    8 Seiten, 20 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English