Stable navigation in formation for a multi-robot system based on a constrained virtual structure

Abstract

This paper deals with the navigation in formation of a group of mobile robots. A set of virtual targets (points) forms a virtual structure of the same shape as the desired formation. Hence, to join and to remain in this formation, each robot has only to track one of these targets. In order to track the chosen target, it has to be attainable by the robot despite its kinematic constraints. This paper studies then the maximum allowed dynamic of the virtual structure according to the kinematic constraints of the robots. Both linear and angular velocities of the targets are constrained. Moreover, depending on these velocities, some relative positions (targets) in the formation become unattainable. These positions are also defined. A stable control law allows to attain the generated set-points. Simulation and experimental results validate the proposed contributions.

Hybrid Type-2 Fuzzy-Sliding Mode Controller for Navigation of Mobile Robot in an Environment Containing a Dynamic Target

“…This approach combines reactive and deliberative methods. It permits benefiting from the advantages of the two methods [21]. Firstly, the robot moves in an unknown environment towards the mobile target, which needs the application of the reactive method.…”

Formation building and collision avoidance for a fleet of NAOs based on optical sensor with local positions and minimum communication

“…To make them cooperate and accomplish the missions well, a pattern formation needs to be considered and built to connect all the robots together. The existed formations mainly belong to four categories [5]: virtual structure [6], behavior-based method [7], artificial potential field technique [8], and leader-follower structure [9].…”

A Multiagent Architecture for Mobile Robot Navigation Using Hierarchical Fuzzy and Sliding Mode Controllers

“…In the literature, the design of controllers for mobile robot navigation is based on two basic approaches: the reactive and the deliberative approach [9].…”

“…Therefore, the reactive method is required, which is based on sensor's measurements and does not require information about the environment [9]. In the literature, neural network [13], potential field [14], and 2 Mathematical Problems in Engineering fuzzy logic system [15] are the most popular developed methods.…”