Vision-based formation control of mobile robots with relative motion states

被引：0
|
作者：
Liu, Shicai [1 ,2 ]
Tan, Dalong [1 ]
Liu, Guangjun [3 ]
机构：
[1] Chinese Acad Sci, Robot Lab, 114 Nanta St, Shenyang 110016, Peoples R China
[2] Chinese Acad Sci, Grad Sch, Beijing, Peoples R China
[3] Ryerson Univ, Dept Aerosp Engn, Toronto, ON, Canada
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS | 2006年
关键词：
formation control; mobile robot; local control; relative motion states;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, a formation control algorithm for mobile robots is developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the need for global sensing and communication between robots. This is achieved by employing the velocity variations, instead of actual velocities, as the control inputs. Simulations and experimental results have demonstrated the effectiveness of the proposed control methods.
引用
收藏
页码：72 / +
页数：3
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