Distributed Obstacle Avoidance-Formation Control of Mobile Robotic Network with Coordinated Group Stabilization

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Abstract

We present a distributed control law for a group of agents that solves the problem of formation control with obstacle avoidance and that can be combined with a coordinated group stabilization control law. In particular, we consider a control law that is given by a linear combination of distributed formation, distributed obstacle avoidance and centralized group motion control laws. Simulation results show the effectiveness of our proposed control law.
Original languageEnglish
Title of host publicationProceedings of the 23rd International Symposium on Mathematical Theory of Networks and Systems (MTNS 2018)
PublisherThe Hong Kong University of science and technology, Hong Kong
Pages722-725
Publication statusPublished - 2018
EventThe 23rd International Symposium on Mathematical Theory of Networks and Systems (MTNS 2018) - Hong Kong, China
Duration: 16-Jul-201820-Jul-2018

Conference

ConferenceThe 23rd International Symposium on Mathematical Theory of Networks and Systems (MTNS 2018)
CountryChina
CityHong Kong
Period16/07/201820/07/2018

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