[1]LUO Jing,LIU Chenglin,LIU Fei.Piloting-following formation and obstacle avoidance control of multiple mobile robots[J].CAAI Transactions on Intelligent Systems,2017,12(2):202-212.[doi:10.11992/tis.201507029]
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Piloting-following formation and obstacle avoidance control of multiple mobile robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 12 Number of periods: 2017 2 Page number: 202-212 Column: 学术论文—智能系统 Public date: 2017-05-05
Title:
Piloting-following formation and obstacle avoidance control of multiple mobile robots
Author(s):
LUO Jing;  LIU Chenglin;  LIU Fei
Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), Jiangnan University, Wuxi 214122, China
Keywords:
multiple mobile robots; piloting-following coordination control; formation control; obstacle avoidance
CLC:
TP273
DOI:
10.11992/tis.201507029
Abstract:
In this paper, we propose a piloting-follower coordination formation control algorithm accompanied with a polar histogram obstacle avoidance method; we suggest here that this combined approach addresses the formation control defects that occur when multiple mobile robots must work in unison. Based on the piloting-following formation control structure, we introduce a virtual following robot, thus converting formation control into trajectory tracking control conducted by the robots that follow the virtual following robot. Using the sensing technology of the mobile robot itself, we achieved real-time navigation of corresponding paths in both simple and complicated environments. By using the two-wheel differential Qbot mobile robot as our research object, we constructed a semi-physical simulation platform for our simulation experiments. Simulation results showed that our method was able to effectively achieve coordination formation and obstacle avoidance control of multiple robots.
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