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Authors: Martin Saska ; Vojtěch Vonásek and Libor Přeučil

Affiliation: Czech Technical University in Prague, Czech Republic

Keyword(s): Autonomous mobile robots, Compact formations, Virtual leaders, Trajectory planning.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Planning and Scheduling ; Robotics and Automation ; Simulation and Modeling ; Symbolic Systems ; Vehicle Control Applications

Abstract: Complex maneuvers of formations of car-like autonomous vehicles are investigated in this paper. The proposed algorithm provides a complete plan for the formation to solve desired tasks and actual control inputs for each robot to ensure collision-free trajectories with respect to neighboring robots as well as dynamic obstacles. The method is based on utilization of complementary virtual leaders whose control inputs are obtained in one merged optimization process using receding horizon control methodologies. The functionality of the system, which enables reverse driving and arbitrary rotations of formations of nonholonomic robots, is verified by simulations of multi-robot tasks and by hardware experiments.

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Paper citation in several formats:
Saska, M.; Vonásek, V. and Přeučil, L. (2010). NAVIGATION AND FORMATION CONTROL EMPLOYING COMPLEMENTARY VIRTUAL LEADERS FOR COMPLEX MANEUVERS. In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8425-01-0; ISSN 2184-2809, SciTePress, pages 141-146. DOI: 10.5220/0002883501410146

@conference{icinco10,
author={Martin Saska. and Vojtěch Vonásek. and Libor P\v{r}eučil.},
title={NAVIGATION AND FORMATION CONTROL EMPLOYING COMPLEMENTARY VIRTUAL LEADERS FOR COMPLEX MANEUVERS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2010},
pages={141-146},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002883501410146},
isbn={978-989-8425-01-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - NAVIGATION AND FORMATION CONTROL EMPLOYING COMPLEMENTARY VIRTUAL LEADERS FOR COMPLEX MANEUVERS
SN - 978-989-8425-01-0
IS - 2184-2809
AU - Saska, M.
AU - Vonásek, V.
AU - Přeučil, L.
PY - 2010
SP - 141
EP - 146
DO - 10.5220/0002883501410146
PB - SciTePress

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