Abstract
Formation control and path planning of multiple mobile robots are combined in a reasonable way. Formation model and the concept of keeping formation are put forward. This path planning is based on behavior-based navigation algorithm, and the movement course of robot team is divided into normal movement phase, obstacle avoidance phase and formation recovery phase. In order to maintain formation, virtual robot is introduced into obstacle avoidance phase. If formation is destroyed severely, robots search local goal configurations according to path planning algorithm. By this control method, multiple mobile robots can avoid obstacles safely and keep in regular formation.
| Original language | English |
|---|---|
| Pages (from-to) | 391-395 |
| Number of pages | 5 |
| Journal | Dongnan Daxue Xuebao (Ziran Kexue Ban)/Journal of Southeast University (Natural Science Edition) |
| Volume | 35 |
| Issue number | 3 |
| State | Published - May 2005 |
| Externally published | Yes |
Keywords
- Formation model
- Keep formation
- Movement control
- Multiple mobile robots
- Path planning