Abstract:
This paper presents an effective methodology for the
control of a group of mobile robots moving in desired formations.
Virtual head robot tracking and three-point 1-1 controllers
incorporated with reactive control schemes are proposed here to
overcome the cases when the control law is undefined and subject
to potential inter-robot collision. In order for the whole group to
enter a desired formation, a general procedure is suggested in the
initialisation stage. Advantages of our approach include the
establishment and maintenance of any formation from arbitrary
initial conditions with collision avoidance for a large group of
mobile robots. The approach is validated through simulation
cases to illustrate the capability of handling singularities and
avoiding collision in a group of N robots.
