Formation Control of Mobile Robots

摘要

A constructive method is presented to design cooperative controllers that force a group of N mobile robots to achieve a particular formation in terms of shape and orientation while avoiding collisions between themselves. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs. The proposed controller development is also extended to formation control of nonholonomic mobile robots.