Modeling and control of formations of nonholonomic mobile robots

被引：778

作者：

Desai, JP ^{[1
]}

Ostrowski, JP

Kumar, V

机构：

[1] Drexel Univ, Program Robot, Intelligent Sensing & Mechatron PRISM Lab, Dept Mech Engn & Mech, Philadelphia, PA 19104 USA

[2] Univ Penn, Grasp Lab, Philadelphia, PA 19104 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2001年 / 17卷 / 06期

基金：

美国国家科学基金会;

关键词：

formation control of mobile robots; graph theory; non-linear control;

D O I：

10.1109/70.976023

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory. We model the team as a triple, (g, r, H), consisting of a group element g that describes the gross position of the lead robot, a set of shape variables r that describe the relative positions of robots, and a control graph H that describes the behaviors of the robots in the formation. Our framework enables the representation and enumeration of possible control graphs and the coordination of transitions between any two formations.

引用

页码：905 / 908

页数：4

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