Formation Control for a Multiple Robotic System Using Adaptive Neural Network

  • Yangmin Li
  • Xin Chen
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3498)


Due to the limitations of sensors, each member of a decentralized system can only deal with local information respectively. A description of local relationship within formation pattern is proposed in this paper. Furthermore, a NN control approach with robust term is proposed to control individual motion. By using such individual control method, all robots will finally form a unique formation. Based on properties of such control strategy, we propose a modified artificial potential approach to realize obstacle avoidance.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Yangmin Li
    • 1
  • Xin Chen
    • 1
  1. 1.Department of Electromechanical Engineering, Faculty of Science and TechnologyUniversity of MacauTaipaChina

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