In this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. Moreover, results of simulations and experiments on real robots are provided for validation purposes.
Edge-Weighted Consensus Based Formation Control Strategy With Collision Avoidance / R. Falconi; L. Sabattini; C. Secchi; C. Fantuzzi; C. Melchiorri. - In: ROBOTICA. - ISSN 0263-5747. - STAMPA. - 32:1(2014), pp. 1-16. [10.1017/S0263574714000368]
Edge-Weighted Consensus Based Formation Control Strategy With Collision Avoidance
FALCONI, RICCARDO;MELCHIORRI, CLAUDIO
2014
Abstract
In this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. Moreover, results of simulations and experiments on real robots are provided for validation purposes.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
