Team-Oriented Formation Control for Multiple Mobile Robots

Authors:	Sun Bo, Shanghai Jiao Tong University, China Chen Weidong, Shanghai Jiao Tong University, China Xi Yugeng, Shanghai Jiao Tong University, China
Topic:	7.5 Intelligent Autonomous Vehicles
Session:	Multiple Vehicles II
Keywords:	mobile robots, robot control, transition matrices

Abstract

This paper addresses on the team-oriented task description and its usage in the mobile robots formation. The team behaviour module is introduced for the team-level task description and the temporal chain of these modules is used to define the team trajectory. The team shape is expressed as a low-triangular matrix by the graph theory to express the lead-follow relation in the formation and the shapes switching is based on the selection of the optimal transition matrix. The experiment of a heterogeneous robots team formation testifies the efficacy.