• Medientyp: E-Artikel
  • Titel: Investigation of Formation Control Approaches Considering the Ability of a Mobile Robot
  • Beteiligte: Wind, Hannes; Sawodny, Oliver; Br•aunl, Thomas
  • Erschienen: Institute of Advanced Engineering and Science, 2018
  • Erschienen in: IAES International Journal of Robotics and Automation (IJRA)
  • Sprache: Nicht zu entscheiden
  • DOI: 10.11591/ijra.v7i1.pp18-38
  • ISSN: 2089-4856
  • Schlagwörter: General Medicine
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  • Anmerkungen:
  • Beschreibung: <jats:p>This work investigates and compares various formation control approaches for mobile robots. A comprehensive literature review was conducted, with particular focus on the approaches' applicability to be implemented on real mobile robots with limited hard and software capabilities. A realistic model of mobile robots is introduced and its parameters are identi ed with measurements from actual mo-bile robots. Later on, the model is extended and used within simulation studies of the various investigated approaches. A collision avoidance controller based on a formation controller is proposed and simulations are carried out. Experiments on real mobile robots are conducted for two formation controllers and for the pro-posed collision avoidance controller. It is shown that if the requirements resulting from the simulation studies are satis ed, an implementation on the real robots is possible.</jats:p>