Formation Control and Vision Based Localization of a System of Mobile Robots

Krzysztof Kozłowski; Wojciech Kowalczyk

doi:10.1007/978-3-319-31898-1_1

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Title

Formation Control and Vision Based Localization of a System of Mobile Robots

Authors

Krzysztof Kozłowski (WI) ^{[ 1 ][ P ]}
Wojciech Kowalczyk (WI) ^{[ 1 ][ P ]}

^{[ 1 ]} Katedra Sterowania i Inżynierii Systemów, Wydział Informatyki, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2016

Chapter type

paper

Publication language

english

Abstract

EN This paper presents trajectory tracking algorithms for a group of mobile robots. The dynamics of differentially driven mobile robots with nonholonomic constrains is taken into account. The paper describes simulation results for the formation motion in the environment free from obstacles and with circle-shaped static obstacles, the experimental testbed and experiments for the kinematic version of the Vector Field Orientation algorithm. The collision avoidance utilizes local artificial potential function that requires only the local information about the environment.

Pages (from - to)

3 - 27

DOI

10.1007/978-3-319-31898-1_1

URL

https://link.springer.com/chapter/10.1007/978-3-319-31898-1_1

Book

Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 : Revised Selected Papers

Presented on

12th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2015, 21-23.07.2015, Colmar, France

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