|
|||||
|
|
| Vision-based formation control of mobile robots | |
| 引用本文： | Shicai LIU,Dalong TAN,Guangjun LIU. Vision-based formation control of mobile robots[J]. 控制理论与应用(英文版), 2005, 3(2): 173-180. DOI: 10.1007/s11768-005-0012-7 |
| 作者姓名： | Shicai LIU Dalong TAN Guangjun LIU |
| 作者单位： | [1]Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang Liaoning 110016, China [2]Graduate School, Chinese Academy of Sciences, Beijing 100049, China [3]Department of Aerospace Engineering, Ryerson University, Toronto, Canada MSB 2K3 |
| 基金项目： | This work was supported by the National Natural Science Founchtion of China （ No. 60334010）. |
| 摘 要： | 1Introduction Formation control of multiple vehicles,such ascooperative control of a group of mobile robots[1~4]and multiple spacecraft[5,6],has beenrecognized as a keytechnologyfor the future and studied by many researchersin recent years.The various control approaches to multiplevehicle formation reported in the literature can becategorized into three groups:leader following schemes;behavior_based methods;and virtual structure techniques.In the leader following approach[1,2,7],one of thevehi… |
| 关 键 词： | 移动机器人 构成控制 视觉控制 障碍避开功能 智能技术 |
| 收稿时间： | 2005-01-31 |
| 修稿时间： | 2005-04-30 |
Vision-based formation control of mobile robots |
|
| Shicai LIU,Dalong TAN,Guangjun LIU. Vision-based formation control of mobile robots[J]. Journal of Control Theory and Applications, 2005, 3(2): 173-180. DOI: 10.1007/s11768-005-0012-7 | |
| Authors: | Shicai LIU Dalong TAN Guangjun LIU |
| Affiliation: | 1. Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang Liaoning 110016,China;Graduate School,Chinese Academy of Sciences,Beijing 100049,China 2. Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang Liaoning 110016,China 3. Department of Aerospace Engineering,Ryerson University,Toronto,Canada M5B 2K3 |
| Abstract: | In this paper, a formation control algorithm and an obstade avoidance control algorithm for mobile robots are developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the need for global sensing and between robots. This is achieved by employing the velocity variation, instead of actual velocities, as the control inputs. Simulation and experimental results have demonstrated the effectiveness of the proposed control methods. |
| Keywords: | Formation control Obstacle avoidance Mobile robot Local control Rehtive motion states |
| 本文献已被 CNKI 维普 万方数据 SpringerLink 等数据库收录！ | |
| 点击此处可从《控制理论与应用(英文版)》浏览原始摘要信息 | |
| 点击此处可从《控制理论与应用(英文版)》下载全文 | |