A research of motion control strategy on mobile robot formation
LIANG Jia-hai1,2
1. College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124,China 2. College of Mathematics and Computer Science, Qinzhou University, Qinzhou Guangxi 535000,China
Abstract：This paper studied how to achieve the diversity, stability and continuity of formation change for mobile robots，and solved the problem of obstacle and collision avoidance for the robot formation to reach the destination. The basic formation was analyzed and the idea of formation parameterization was presented. Parametric mathematical model was established for the virtual structure of basic formation. Formation alternated between basic formation and derivative formation by adjusting the parameters. Robot motion can be controlled by using behavior fusion method, follow pilot method, artificial potential field method and virtual structure method. The simulation and experimental results show that this strategy not only retains the advantage of stability and rapid formation of virtual structure method but also improves flexibility.
梁家海. 移动机器人编队的运动控制策略[J]. 计算机应用, 2011, 31(12): 3312-3314.
LIANG Jia-hai. A research of motion control strategy on mobile robot formation. Journal of Computer Applications, 2011, 31(12): 3312-3314.
2011, Vol. 31 
