TY - GEN
T1 - A distributed multi-robot formation control method
AU - Li, Yuan
AU - Zou, Wei
AU - Wen, Feng
AU - Yuan, Kui
PY - 2011
Y1 - 2011
N2 - Formation control of multiple wheeled robots with nonholonomic constraints and limited acceleration has been studied in this paper. A distributed formation control method taking acceleration into account in Leader-following structure is proposed. The method uses only local sensing information and the velocity information obtained by communication. Little communication through wireless network allows robots to share their velocity information. We also developed an artificial identity mark for large scale multi-robot systems. The identity mark can not only distinguish different robots, but also measure the distance and orientation between the robots. Extensive experiments have been carried out to validate our strategy both in simulation and with real robots.
AB - Formation control of multiple wheeled robots with nonholonomic constraints and limited acceleration has been studied in this paper. A distributed formation control method taking acceleration into account in Leader-following structure is proposed. The method uses only local sensing information and the velocity information obtained by communication. Little communication through wireless network allows robots to share their velocity information. We also developed an artificial identity mark for large scale multi-robot systems. The identity mark can not only distinguish different robots, but also measure the distance and orientation between the robots. Extensive experiments have been carried out to validate our strategy both in simulation and with real robots.
KW - Artificial Identity Mark
KW - Distributed Formation Control
KW - Multi Robot
UR - http://www.scopus.com/inward/record.url?scp=81055127628&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2011.5985719
DO - 10.1109/ICMA.2011.5985719
M3 - Conference contribution
AN - SCOPUS:81055127628
SN - 9781424481149
T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
SP - 543
EP - 548
BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Y2 - 7 August 2011 through 10 August 2011
ER -