Publication

Distributed Formation with Diffusive Obstacle Avoidance Control in Coordinated Mobile Robots

Chan, N. P. K., Jayawardhana, B. & Scherpen, J. M. A., 21-Jan-2019, 57th IEEE Conference on Decision and Control. IEEE, p. 4571-4576 7 p.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Copy link to clipboard

Documents

  • Distributed Formation with Diffusive Obstacle Avoidance Control in Coordinated Mobile Robots

    Submitted manuscript, 352 KB, PDF document

    Request copy

  • istributed Formation with Diffusive Obstacle Avoidance Control inCoordinated Mobile Robots

    Final publisher's version, 378 KB, PDF document

    Request copy

DOI

We study a multitasking control problem in a group of networked mobile robots where they simultaneously have to reach a prescribed shape/formation and to move as a whole towards a desired position while avoiding any obstacles encountered during transition. We propose a modular control framework that comprises of a distributed controller for achieving the formation task and obstacle avoidance task and a centralized controller for solving the group motion task. In particular, we can independently design a controller for each task and obtain the unified distributed controller by a linear combination of these controllers. We prove that the unified controller solves the aforementioned multitasking control problem. An illustrative example is given to show the efficacy of our proposed approach.
Original languageEnglish
Title of host publication57th IEEE Conference on Decision and Control
PublisherIEEE
Pages4571-4576
Number of pages7
ISBN (Print)978-1-5386-1395-5
Publication statusPublished - 21-Jan-2019
Event57th IEEE Conference on Decision and Control, Miami Beach, FL, USA, December 17-19, 2018 - The Fontainebleau in Miami Beach, FL, USA. , Miami Beach, Florida, United States
Duration: 17-Dec-201819-Dec-2018

Conference

Conference57th IEEE Conference on Decision and Control, Miami Beach, FL, USA, December 17-19, 2018
CountryUnited States
CityMiami Beach, Florida
Period17/12/201819/12/2018

Event

57th IEEE Conference on Decision and Control, Miami Beach, FL, USA, December 17-19, 2018

17/12/201819/12/2018

Miami Beach, Florida, United States

Event: Conference

ID: 62875613