Abstract
Paper presents control method for the formation of nonholonomic mobile robots. Robots track desired trajectories in the environment with static convex-shaped obstacles. Algorithm includes collision-avoidance between robots and obstacles. Artificial potential functions (APF) surround objects in the environment. Virtual field orientation (VFO) method is used to track desired trajectories. Stability analysis for the system is presented. Simulation results and hardware experiments that illustrate effectiveness of presented algorithm are included in the paper.
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Kozlowski, K.t., Kowalczyk, W. (2009). Motion Control for Formation of Mobile Robots in Environment with Obstacles. In: Rudas, I.J., Fodor, J., Kacprzyk, J. (eds) Towards Intelligent Engineering and Information Technology. Studies in Computational Intelligence, vol 243. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03737-5_15
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DOI: https://doi.org/10.1007/978-3-642-03737-5_15
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