Leader-formation navigation using dynamic formation pattern

Yangmin Li, Xin Chen

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

7 Citations (Scopus)

Abstract

Formation navigation is an interesting topic in robotic community. In this paper, we focus on two aspects of formation navigation, leader-formation keeping and obstacle avoidance. A local control strategy based on adaptive NN control with robust term and a general obstacle avoidance strategy are proposed. It is proved that if formation pattern is smooth continuous, even interaction topology is dynamic, the robots using the local control strategy must form the formation determined by formation pattern. Applying dynamic formation pattern, a simulation illustrates a formation navigation within an obstacle field where there exist two kinds of obstacles.
Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages1494-1499
Number of pages6
Publication statusPublished - 16 Nov 2005
Externally publishedYes
EventProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States
Duration: 24 Jul 200528 Jul 2005

Conference

ConferenceProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
CountryUnited States
CityMonterey, CA
Period24/07/0528/07/05

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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