Leader-following formation control of multiple mobile vehicles
Leader-following formation control of multiple mobile vehicles
A framework for controlling groups of autonomous mobile vehicles to achieve predetermined formations based on a leader-following approach is presented. A three-level hybrid control architecture is proposed to implement both centralised and decentralised cooperative control. Under such architecture, the global-level formation control problem of n vehicles is decomposed into decentralised control problems between n-1 pairs of follower and their designated leader. In the leader-follower control level, two basic controllers are proposed to make the following robot keep a relative position with respect to the leader and avoid collisions in the presence of obstacles. Then, graph theory is introduced to formalise specified formation patterns in a simple but effective way, and two types of switching between these formations are also proposed. Numerical simulations and physical robot experiments show the effectiveness of our approach.
Dokumentinformationen
Leader-following formation control of multiple mobile vehicles
IET Control Theory and Applications ; 1 , 2 ; 545-552
2007
8 Seiten, 20 Quellen
Aufsatz (Zeitschrift)
Englisch
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