TY - GEN
T1 - Time-varying formation control for mobile robots
T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
AU - Wang, Zhenmin
AU - Yang, Chen
AU - Dong, Xiwang
AU - Li, Qingdong
AU - Ren, Zhang
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/15
Y1 - 2017/12/15
N2 - Time-varying formation control problems for mobile robot swarm systems are investigated. Firstly, for the formation control, the mobile robot is regarded as a point-mass system, and the dynamics of each mobile robot is modeled by single integrator. Then, consensus-based formation protocols are presented for mobile robots to achieve a predefined time-varying formation. Necessary and sufficient conditions for mobile robot swarm systems to achieve time-varying formations are proposed. Moreover, a formation platform, which consists of four omni-directional mobile robots is introduced, where a Ultra-Wind Band (UWB) based indoor navigation system (INS) is used. Finally, simulation and experimental examples are presented for the mobile robot swarm systems to achieve a time-varying formation respectively.
AB - Time-varying formation control problems for mobile robot swarm systems are investigated. Firstly, for the formation control, the mobile robot is regarded as a point-mass system, and the dynamics of each mobile robot is modeled by single integrator. Then, consensus-based formation protocols are presented for mobile robots to achieve a predefined time-varying formation. Necessary and sufficient conditions for mobile robot swarm systems to achieve time-varying formations are proposed. Moreover, a formation platform, which consists of four omni-directional mobile robots is introduced, where a Ultra-Wind Band (UWB) based indoor navigation system (INS) is used. Finally, simulation and experimental examples are presented for the mobile robot swarm systems to achieve a time-varying formation respectively.
KW - Formation control
KW - mobile robot
KW - Single-integrator
KW - swarm system
KW - time-varying formation
UR - https://www.scopus.com/pages/publications/85046640424
U2 - 10.1109/IECON.2017.8217267
DO - 10.1109/IECON.2017.8217267
M3 - 会议稿件
AN - SCOPUS:85046640424
T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
SP - 7239
EP - 7244
BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 29 October 2017 through 1 November 2017
ER -