Formation Approach for Mobile Robots with Inaccurate Sensor Information

This paper develops a control approach to generic formation tasks of multiple mobile robots with inaccurate sensor information. Inaccurate sensor information means that all the robots have only local sensors which cannot accurately measure absolute distances and directions of objects. The control logic is developed considering generic situations in order to adapt to increasing number of robots which participate in the formation. Petri nets are used for modeling and design of the control logic, which can visualize the control models and make it easy to check the states of each robot. Physically homogenous mobile robots are designed and built to evaluate the developed logic. Each robot is equipped with eighteen infrared sensors and a UHF transceiver module. The developed control ...