A decentralized approach to formation maneuvers
A decentralized approach to formation maneuvers
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DOI：
10.1109/tra.2003.819598
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发表时间：
2003-12-01
期刊：
影响因子：
--
通讯作者：
Young, BJ
中科院分区：
文献类型：
--
作者：
Lawton, JRT;Beard, RW;Young, BJ
提出了一种基于行为的移动的机器人编队运动方法。复杂的编队机动被分解为一系列的编队模式之间的机动。本文提出了三种编队控制策略。第一种策略使用配置在双向环形拓扑中的相对位置信息来维持队形。第二种策略通过被动技术注入机器人间阻尼。第三种策略考虑执行器饱和。硬件实验结果验证了所提控制策略的有效性。
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.