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2012 International Conference on Computational Intelligence and Software Engineering (CiSE 2012)(E-BOOK)

Wuhan,China,2012-12-142012-12-162012

ISBN: 978-1-61896-036-8 Scientific Research Publishing

E-Book 275pp Pub. Date: December 2012

Category: Computer Science & Communications

Price: $100

Title: An omni-directional vision-based formation control method for nonholonomic mobile robots
Source: 2012 International Conference on Computational Intelligence and Software Engineering (CiSE 2012)(E-BOOK) (pp 181-184)
Author(s): Jia Xing, School of Science,Tianjin University of Technology and Education,Tianjin, China
Mingchun Wang, School of Science,Tianjin University of Technology and Education,Tianjin, China
Jinhuan Wang, School of Control Science and Engineering,Hebei University of Technology,Tianjin, China
Zihan Ma, School of Control Science and Engineering,Hebei University of Technology,Tianjin, China
Haiyong Chen, School of Control Science and Engineering,Hebei University of Technology,Tianjin, China
Abstract: In this study, a novel position and bearing control of robotic formation in the image frame is proposed. First, an image-based formation model of multiple mobile robots is developed in the image frame. Then, a nonlinear feedback control method is used for stabling formation shape. And the control algorithm utilizes estimations of the external input term which is only relative to the leader’s translational and angular accelerations. Finally, some simulation results show that the proposed model and control approach can effectively realize the formation by using only limited local sensor information.
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