Arbitrarily shaped formations of mobile robots: artificial potential fields and coordinate transformation

Authors:
Lorenzo Sabattini;Cristian Secchi;Cesare Fantuzzi
Affiliations:
Department of Electronics, Computer Sciences and Systems (DEIS), University of Bologna, Bologna, Italy;Department of Sciences and Methods of Engineering (DISMI), University of Modena and Reggio Emilia, Modena and Reggio Emilia, Italy;Department of Sciences and Methods of Engineering (DISMI), University of Modena and Reggio Emilia, Modena and Reggio Emilia, Italy
Venue:
Autonomous Robots
Year:
2011

Citing 3
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Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control Simulator

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Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms
Potential based control strategy for arbitrary shape formations of mobile robots

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

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Abstract

In this paper we describe a novel decentralized control strategy to realize formations of mobile robots. We first describe how to design artificial potential fields to obtain a formation with the shape of a regular polygon. We provide a formal proof of the asymptotic stability of the system, based on the definition of a proper Lyapunov function. We also prove that our control strategy is not affected by the problem of local minima. Then, we exploit a bijective coordinate transformation to deform the polygonal formation, thus obtaining a completely arbitrarily shaped formation. Simulations and experimental tests are provided to validate the control strategy.