[1]REN Limin,WANG Weidong,DU Zhijiang.Key technologies and development of? formation control of mobile robots[J].CAAI Transactions on Intelligent Systems,2013,8(5):381-394.[doi:10.3969/j.issn.1673-4785.201302011]
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Key technologies and development of? formation control of mobile robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 8 Number of periods: 2013 5 Page number: 381-394 Column: 综述 Public date: 2013-10-25
Title:
Key technologies and development of? formation control of mobile robots
Author(s):
REN Limin 1; 2;  WANG Weidong? 1;  DU Zhijiang 1
1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China; 2. College of Mechanical Engineering, Beihua University, Jilin 132021, China
Keywords:
mobile robot;  multi-robot;  formation control;  key technology;  present development
CLC:
TP242.6
DOI:
10.3969/j.issn.1673-4785.201302011
Abstract:
On the basis of defining the present development of multi-robot formation control at home and abroad, with ground mobile robots as the research object, the research achievements on the multi-robot formation control are described in aspects of system structure, robot model, the formation shape representation method, reference frame and formation control strategy. In addition, the present domestic and foreign researches on such sub-problems of formation control as the generation of formation shape, formation tracking and coordination, formation change, recombination and formation, obstacle avoidance are also summarized and analyzed. It is pointed out finally that the uniform and effective formation control frame, formation optimization and change in the obstacle environment, reducing system requirements on communication and the application of formation control in the actual physical environment are the future possible research topics.
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