Flexible formation control for obstacle avoidance based on numerical flow field

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	Flexible formation control for obstacle avoidance based on numerical flow field
	Shao, Jinyan ; Wang, Long ; Xie, Guangming
	2006
英文摘要	This paper presents a novel approach to obstacle avoidance for a group of robots moving in formation. This idea is originally inspired by a phenomenon in hydrodynamics. In this approach, a virtual robot is introduced as a reference point(beacon) to determine a collision-free trajectory. Taking the virtual point as a basic point, the robot group establish a rigid body-like formation. Since the collision-freeness of the virtual robot does not guarantee all other robots avoiding obstacles, we employ a flexible formation control scheme in the framework of rigid body-like formation. Two kinds of transformation are introduced to help every robot negotiate obstacles. This approach gives a new principle to deal with obstacle avoidance in formation control for multi-robot system. Simulation results are presented to verify its effectiveness. ? 2006 IEEE.; EI; 5986-5991
会议录	45th IEEE Conference on Decision and Control 2006, CDC
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/461678]
专题	工学院
推荐引用方式 GB/T 7714	Shao, Jinyan,Wang, Long,Xie, Guangming. Flexible formation control for obstacle avoidance based on numerical flow field[C]. 见:.