Control of a Mobile Robot Formation Using Artificial Potential Functions
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] pracownik
2021
rozdział w monografii naukowej
angielski
EN This chapter presents three control algorithms for a group of differentially-driven mobile robots: based on linearization, persistent excitation and vector field orientation method. All the presented algorithms have been extended by the authors with a collision avoidance mechanism based on the artificial potentials functions. For each of them, stability analysis was conducted using Lyapunov method. Both stability analysis and numerical verification of the effectiveness of the control methods were carried out in two stages: first, the case of a single robot moving in the environment with static circle-shaped obstacles was considered, then the same algorithm was extended to multi-robot version. The robots were executing synchronous motion while avoiding inter-agent collisions.
04.09.2020
455 - 496
20