title   
  

Formation control of nonholonomic mobile robots using implicit polynomials and elliptic Fourier descriptors

Esin, Yeşim Hümay and Ünel, Mustafa (2010) Formation control of nonholonomic mobile robots using implicit polynomials and elliptic Fourier descriptors. Turkish Journal of Electrical Engineering & Computer Sciences, 18 (5). pp. 765-780. ISSN 1300-0632

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Official URL: http://journals.tubitak.gov.tr/elektrik/index.php

Abstract

This paper presents a novel method for the formation control of a group of nonholonomic mobile robots using implicit and parametric descriptions of the desired formation shape. The formation control strategy employs implicit polynomial (IP) representations to generate potential fields for achieving the desired formation and the elliptical Fourier descriptors (EFD) to maintain the formation once achieved. Coordination of the robots is modeled by linear springs between each robot and its two nearest neighbors. Advantages of this new method are increased flexibility in the formation shape, scalability to different swarm sizes and easy implementation. The shape formation control is first developed for point particle robots and then extended to nonholonomic mobile robots. Several simulations with robot groups of different sizes are presented to validate our proposed approach.

Item Type:Article
Uncontrolled Keywords:Formation, Coordination, Autonomous, Nonholonomic, Implicit Polynomials, Elliptic Fourier Descriptors
Subjects:T Technology > T Technology (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
ID Code:15382
Deposited By:Mustafa Ünel
Deposited On:29 Nov 2010 11:37
Last Modified:25 May 2011 14:16

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