Formation Control And Collision Avoidance For Multi-Agent Non-Holonomic Systems: Theory And Experiments  

Oleh:

[s.n]

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 27 no. 1 (Jan. 2008), page 107-126.
Topik: autonomous agents; wheeled robots; distributed robot systems; control of non-holonomic systems; formation control; collision avoidance
Fulltext: 107.pdf (1.27MB)

Isi artikel

In this paper we present a theoretical and experimental result on the control of multi-agent non-holonomic systems. We design and implement a novel decentralized control scheme that achieves dynamic formation control and collision avoidance for a group of non-holonomic robots. First, we derive a feedback law using Lyapunov-type analysis that guarantees collision avoidance and tracking of a reference trajectory for a single robot. Then we extend this result to the case of multiple non-holonomic robots, and show how different multi-agent problems, such as formation control and leader–follower control, can be addressed in this framework. Finally, we combine the above results to address the problem of coordinated tracking for a group of agents. We give extensive experimental results that validate the effectiveness of our results in all three cases.

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