International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Smooth Formation Navigation of Multiple Mobile Robots for Avoiding Moving Obstacles

  • Chen Xin (Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau) ;
  • Li Yangmin (Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau)
  • Published : 2006.08.01
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Abstract

This paper addresses a formation navigation issue for a group of mobile robots passing through an environment with either static or moving obstacles meanwhile keeping a fixed formation shape. Based on Lyapunov function and graph theory, a NN formation control is proposed, which guarantees to maintain a formation if the formation pattern is $C^k,\;k\geq1$. In the process of navigation, the leader can generate a proper trajectory to lead formation and avoid moving obstacles according to the obtained information. An evolutionary computational technique using particle swarm optimization (PSO) is proposed for motion planning so that the formation is kept as $C^1$ function. The simulation results demonstrate that this algorithm is effective and the experimental studies validate the formation ability of the multiple mobile robots system.

Keywords

References

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