Vision-based, distributed control laws formotion coordination of nonholonomic robots

Authors:
Nima Moshtagh;Nathan Michael;Ali Jadbabaie;Kostas Daniilidis
Affiliations:
Scientific Systems Company, Inc., Woburn, MA and General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA;General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA;General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA;General Robotics, Automation, Sensing, and Perception Laboratory, University of Pennsylvania, Philadelphia, PA
Venue:
IEEE Transactions on Robotics
Year:
2009

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Abstract

In this paper, we study the problem of distribute dmotion coordination among a group of nonholonomic ground robots. We develop vision-based control laws for parallel and balanced circular formations using a consensus approach. The proposed control laws are distributed in the sense that they require information only from neighboring robots. Furthermore, the control laws are coordinate-free and do not rely on measurement or communication of heading information among neighbors but instead require measurements of bearing, optical flow, and time to collision, all of which can be measured using visual sensors. Collision-avoidance capabilities are added to the team members, and the effectiveness of the control laws are demonstrated on a group of mobile robots.