Decentralized Strategy for Car-Like Robot Formations

Full text: Download

Publisher: Institute of Electrical and Electronics Engineers (IEEE)

Preprint: archiving allowed. Upload

Postprint: archiving allowed. Upload

Published version: archiving forbidden. Upload

Policy details (opens in a new window). Data provided by SHERPA/RoMEO
Abstract
This work proposes a control architecture for the consistent motions of a group of nonholonomic robotic vehicles. We present a decentralized control strategy that permits each vehicle to autonomously compute an optimal trajectory by using only locally generated information. In addition, to reach the desired positions in the robot formation, each robot follows a trajectory that is adapted thanks to reactive terms incorporated in the path planning process. This allows the robot to avoid obstacles and to maintain communication with the rest of the formation. We provide the proof of the convergence of this algorithm. Simulation results validate and highlight the efficiency and relevance of this method.