Control of decentralized geometric formations of mobile robots

摘要

Mobile robot formations differ in accordance to the mission, environment and robot abilities. In the case of decentralized control, the ability to achieve the shapes of these formations has to be built in the controllers of each robot. In this paper two types of basic formations are investigated, platoon and V-shape. Leader follower approach is applied for controllers design to drive each robot toward achieving the desired geometric shape of the formation.