Title: Formation vector control of nonholonomic mobile robot groups and its experimental verification

Authors: Hiroaki Yamaguchi, Yoichi Kanbo, Atsushi Kawakami

Addresses: Department of Integrated Information Technology, College of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Chuo-ku, Sagamihara-shi, Kanagawa 252-5258, Japan. ' Ricoh, Co., Ltd., Ricoh Building, 8-13-1 Ginza, Chuo-ku, Tokyo 104-8222, Japan. ' Department of Integrated Information Technology, College of Science and Engineering, Aoyama Gakuin University, 5-10-1 Fuchinobe, Chuo-ku, Sagamihara-shi, Kanagawa 252-5258, Japan

Abstract: This paper presents a control method derived through a modification of the formation vector control previously presented for generating formations of groups of nonholonomic mobile robots with two independently driven wheels. This modified control method is capable of generating formations faster than the formation vector control. Specifically, this paper proposes that the mobile robots try to match their translation velocities with their desired velocities, while avoiding zigzag motions which have previously occurred. This paper experimentally confirms the effectiveness of the modified control method by demonstrating an enclosing behaviour in which the group generates an arc-shaped formation around a target.

Keywords: multi-agent systems; MAS; multiple robots; mobile robots; multi-robot systems; mobile robot groups; group formation; formation control; formation controllability; formation vector; nonholonomic robots; feedback control; distributed control; robot control.

DOI: 10.1504/IJVAS.2011.038178

International Journal of Vehicle Autonomous Systems, 2011 Vol.9 No.1/2, pp.26 - 45

Received: 20 Sep 2009
Accepted: 06 Apr 2010
Published online: 10 Apr 2015 *

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