Formation control for a multiple robotic system using adaptive neural network

Authors:
Yangmin Li;Xin Chen
Affiliations:
Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macao SAR, China;Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macao SAR, China
Venue:
ISNN'05 Proceedings of the Second international conference on Advances in Neural Networks - Volume Part III
Year:
2005

Citing 3
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Abstract

Due to the limitations of sensors, each member of a decentralized system can only deal with local information respectively. A description of local relationship within formation pattern is proposed in this paper. Furthermore, a NN control approach with robust term is proposed to control individual motion. By using such individual control method, all robots will finally form a unique formation. Based on properties of such control strategy, we propose a modified artificial potential approach to realize obstacle avoidance.