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 language | English |
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| Title of host publication | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
| Pages | 1494-1499 |
| Number of pages | 6 |
| Publication status | Published - 16 Nov 2005 |
| Externally published | Yes |
| Event | Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States Duration: 24 Jul 2005 → 28 Jul 2005 |
Conference
| Conference | Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 |
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| Country/Territory | United States |
| City | Monterey, CA |
| Period | 24/07/05 → 28/07/05 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Science Applications
- Electrical and Electronic Engineering