Distributed Formation with Diffusive Obstacle Avoidance Control in Coordinated Mobile Robots

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Abstract

We study a multitasking control problem in a group of networked mobile robots where they simultaneously have to reach a prescribed shape/formation and to move as a whole towards a desired position while avoiding any obstacles encountered during transition. We propose a modular control framework that comprises of a distributed controller for achieving the formation task and obstacle avoidance task and a centralized controller for solving the group motion task. In particular, we can independently design a controller for each task and obtain the unified distributed controller by a linear combination of these controllers. We prove that the unified controller solves the aforementioned multitasking control problem. An illustrative example is given to show the efficacy of our proposed approach.
Original languageEnglish
Title of host publication57th IEEE Conference on Decision and Control
PublisherIEEE
Pages4571-4576
Number of pages7
ISBN (Print)978-1-5386-1395-5
DOIs
Publication statusPublished - 21-Jan-2019
Event57th IEEE Conference on Decision and Control, Miami Beach, FL, USA, December 17-19, 2018 - The Fontainebleau in Miami Beach, FL, USA. , Miami Beach, Florida, United States
Duration: 17-Dec-201819-Dec-2018

Conference

Conference57th IEEE Conference on Decision and Control, Miami Beach, FL, USA, December 17-19, 2018
CountryUnited States
CityMiami Beach, Florida
Period17/12/201819/12/2018

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