文件名称:A-Decentralized-Cooperative-Control-Scheme-With-O
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The problem of formation control of a team of mobile
robots based on the virtual and behavioral structures is considered
in this paper. In the virtual structure, each mobile robot ismodeled
by an electric charge. The mobile robots move toward a circle,
and due to repulsive forces between the identical charges, regular
polygon formations of the mobile robots will be realized. For
swarm formation, a virtual mobile robot is located at the center
of the circle, and other mobile robots follow it. In the introduced
approach, each mobile robot finds its position in the formation
robots based on the virtual and behavioral structures is considered
in this paper. In the virtual structure, each mobile robot ismodeled
by an electric charge. The mobile robots move toward a circle,
and due to repulsive forces between the identical charges, regular
polygon formations of the mobile robots will be realized. For
swarm formation, a virtual mobile robot is located at the center
of the circle, and other mobile robots follow it. In the introduced
approach, each mobile robot finds its position in the formation
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A Decentralized Cooperative Control Scheme With Obstacle Avoidance for a Team of Mobile Robots.pdf