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Decentralized Control of Leader-Follower Formations of Mobile Robots with Obstacle Avoidance

机译:具有障碍避免的移动机器人领导者组织的分散控制

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This paper proposes a decentralized control scheme to guide a leader-follower formation of unicycle-like mobile robots to pass between static obstacles, demanding just one controller per robot. Two approaches are discussed, in terms of obstacle avoidance. One considers the whole formation as a virtual robot, which should avoid obstacles and keep the formation aspect. To do that, the leader robot takes care of goal seeking and obstacle avoidance, while the follower one just keeps the formation as a whole rigid body (rigid formation). In the second approach, the follower robot keeps only its separation from the leader (semirigid formation) and avoids obstacles, while the leader one seeks for the goal and avoids obstacles. In each case, the controllers onboard the robots do not share information during navigation (the control strategy is a decentralized one). Experimental results validating the proposal are also presented and discussed.
机译:本文提出了一个分散的控制方案,以指导单层移动机器人的领导者 - 追随者形成,以在静态障碍物之间通过,仅要求每个机器人的一个控制器。就避免避免而讨论了两种方法。一个人认为整个形成作为虚拟机器人,这应该避免障碍并保持形成方面。为此,领导机器人负责避免目标寻求和障碍物,而追随者则保持形成作为整个刚体(刚性地层)。在第二种方法中,追随器机器人只能与领导者(半原体)分离并避免障碍物,而领导者则为目标寻求目标并避免障碍物。在每种情况下,机器人的控制器在导航期间不共享信息(控制策略是分散的一个)。还提出和讨论了验证提案的实验结果。

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