Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Formation Algorithm with Local Minimum Escape for Unicycle Robots

유니사이클 로봇을 위한 지역최소점 탈출을 갖춘 포메이션 알고리즘

  • Received : 2012.11.28
  • Accepted : 2013.03.25
  • Published : 2013.04.01
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Abstract

This paper presents formation control based on potential functions for unicycle robots. The unicycle robots move to formation position which is made from a reference point and neighboring robots. In the framework, a local minimum case occurred by combination of potential repulsed from neighboring robots and potential attracted from a formation line is presented, in which the robot escapes from a local minimum using a virtual escape point after recognizing trapped situation. As well, in the paper, potential functions are designed to keep the same distance between neighboring robots on a formation line, i.e. the relative distance between neighboring robots on a formation line is controlled by a potential function parameter. The simulation results show that the proposed approach can effectively construct straight line, V, and polygon formation for multiple robots.

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References

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