Distributed Formation with Diffusive Obstacle Avoidance Control in Coordinated Mobile Robots

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Samenvatting

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.
Originele taal-2English
Titel57th IEEE Conference on Decision and Control
UitgeverijIEEE
Pagina's4571-4576
Aantal pagina's7
ISBN van geprinte versie978-1-5386-1395-5
DOI's
StatusPublished - 21-jan-2019
Evenement57th 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
Duur: 17-dec-201819-dec-2018

Conference

Conference57th IEEE Conference on Decision and Control, Miami Beach, FL, USA, December 17-19, 2018
LandUnited States
StadMiami Beach, Florida
Periode17/12/201819/12/2018

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