Naslov
A grid-based approach to formation reconfiguration for a class of robots with non-holonomic constraints

Autori
Miklić, Damjan ; Bogdan, Stjepan ; Fierro, Rafael ; Song, Yang

Izvornik
European journal of control (0947-3580) 18 (2012), 2; 162-181

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
mobile robots; formation control; multi-agent systems

Sažetak
In this paper, we propose an architecture for safe, collision-free formation reconfiguration of a team of autonomous agents. Our approach is based on abstracting the agent formation by a rectangular grid. We develop a discrete-event coordination strategy that plans collision-free transitions between arbitrarily defined formations. The coordination strategy implementation is based on a well-established control design methodology for manufacturing systems. Agent dynamics are modeled taking into account realistic, nonholonomic constraints. Using the concept of leader-to-formation stability, we propose controller tuning guidelines to ensure that the actual multi-agent system behavior conforms to the discreteevent motion plan. Group navigation is achieved by integrating a way point controller with this novel grid-based formation reconfiguration scheme. The proposed hybrid architecture is capable of driving a group of agents through a cluttered environment, while maintaining specified formation constraints. We present simulated and experimental results verifying the validity of our methodology.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

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