Decentralized Behavioral Approach to Wheeled Mobile Robot Formation Maneuvers

Abstract

In this chapter, we apply the design scheme in Section 8.4.2 to formation maneuvers for a group of wheeled mobile robots. Complex formation maneuvers are decomposed into a sequence of maneuvers between formation patterns. We present three decentralized behavior-based formation control strategies. The first strategy uses relative position information configured in a bidirectional ring topology to maintain the formation. The second strategy injects interrobot damping via passivity techniques. The third strategy accounts for actuator saturation. Hardware results on differentially driven wheeled mobile robots demonstrate the effectiveness of the proposed control strategies.