FORMATION CONTROL AND ROLE ASSIGNMENT OF AUTONOMOUS MOBILE ROBOTS IN UNSTRUCTURED ENVIRONMENT

Fatima Debbat and Lounis Adouane

Keywords

Mobile robot, formation control, leaderfollower approach, roleswitching, obstacle avoidance, limitcycle method

Abstract

Coordinating distributed robots to work in formation becomes one of the complex problems in multi-robot systems during the last years. The main contribution in the proposed work is to control non-holonomic mobile robots to maintaining a desired formation during navigation and the way to change formation shape when the robots detect a hindering obstacle. The robots are anonymous and randomly distributed. The developed control strategy, modeled using the Petri Nets formalism, combines together formation control, navigation and obstacle avoidance. The formation control is based on a leader-follower formation approach and the obstacle avoidance is based on modiļ¬ed limit-cycle method [1]. The overall control architecture is validated through a multitude of simulation.

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