A decentralized approach to formation maneuvers

被引：740

作者：

Lawton, JRT ^{[1
]}

Beard, RW

Young, BJ

机构：

[1] Raytheon Missile Syst, Tucson, AZ 85706 USA

[2] Brigham Young Univ, Dept Elect & Comp Engn, Provo, UT 84602 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2003年 / 19卷 / 06期

基金：

美国国家航空航天局;

关键词：

behavioral methods; coordinated control; formations; mobile robots; passivity;

D O I：

10.1109/TRA.2003.819598

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 presents a behavior-based approach to formation maneuvers for groups of mobile robots. Complex formation maneuvers are decomposed into a sequence of maneuvers between formation patterns. The paper presents three formation control strategies. The first strategy uses relative position information configured in a bidirectional ring topology to maintain the formation. The second strategy injects interrobot damping via passivity techniques. The third strategy accounts for actuator saturation. Hardware results demonstrate the effectiveness of the proposed control strategies.

引用

页码：933 / 941

页数：9

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