Motion Control for Formation of Mobile Robots in Environment with Obstacles

  • Krzysz tof Kozlowski
  • Wojciech Kowalczyk
Chapter
Part of the Studies in Computational Intelligence book series (SCI, volume 243)

Abstract

Paper presents control method for the formation of nonholonomic mobile robots. Robots track desired trajectories in the environment with static convex-shaped obstacles. Algorithm includes collision-avoidance between robots and obstacles. Artificial potential functions (APF) surround objects in the environment. Virtual field orientation (VFO) method is used to track desired trajectories. Stability analysis for the system is presented. Simulation results and hardware experiments that illustrate effectiveness of presented algorithm are included in the paper.

Keywords

Mobile Robot Motion Control Collision Avoidance Robot Position Reference Orientation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Krzysz tof Kozlowski
    • 1
  • Wojciech Kowalczyk
    • 1
  1. 1.Control and Systems EngineeringPoznan University of TechnologyPoznanPoland

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