@inproceedings{2d130852d6bd49f48ebee35fe25c68eb,
title = "Tangential-force-based collision-free formation control for non-holonomic mobile robots",
abstract = "This paper proposes a collision-free formation control method under the leader-follower control framework for non-holonomic mobile robots. To prevent robots from trapping into locally infeasible states and improve the effectiveness of collision avoidance, a tangential-force-based collision avoidance controller is proposed. The tangential-force-based repulsion field is customized to guide the intruder revolving around the field source with a certain radius. The repulsion field is divided into three areas and repulsion forces are generated in different areas to guide robots to maintain formation and avoid collision efficiently. Simulation results on formation-reconfiguration and formation-crossing scenarios demonstrate that the proposed method can drive all the robots to reach corresponding destinations without collision, which cannot be realized by the standard artificial potential method.",
keywords = "Collision-free formation control, Formation-reconfiguration, Tangential-force",
author = "Yunshan Deng and Teng Long and Zhu Wang and Guangtong Xu and Yan Cao",
note = "Publisher Copyright: {\textcopyright} 2019 Technical Committee on Control Theory, Chinese Association of Automation.; 38th Chinese Control Conference, CCC 2019 ; Conference date: 27-07-2019 Through 30-07-2019",
year = "2019",
month = jul,
doi = "10.23919/ChiCC.2019.8866286",
language = "English",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "5805--5810",
editor = "Minyue Fu and Jian Sun",
booktitle = "Proceedings of the 38th Chinese Control Conference, CCC 2019",
address = "United States",
}