Peter C.Y. Chen, Jie Wan, Aun N. Poo, and Shuzhi S. Ge
Multi-robot system, zoning scheme, formation, attractiveness, nonsmooth analysis
In this paper, we investigate the stability and attractiveness of formation control in connection with the method of artificial po- tential trench. With the introduction of a zoning scheme and the associated zoning potential, we synthesize a control that attracts a team of robots to establish a formation, while ensuring that each robot maintains a certain separation from its leader and avoids collision with other robots. Results from computer simulation verify and demonstrate the effectiveness of this approach to formation and zoning control of multi-robot systems.
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