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Research on obstacle avoidance control for multi-mobile robots formation in complex environment

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3 Author(s)
Zhang, Feng ; Sch. of Inf. & Control Eng., Shenyang Jianzhu Univ., Shenyang, China ; Zhe Sun ; Liu, Meiju

This paper presents a new obstacle avoidance control method for multi-mobile robots formation in complex environment. At first, the formation based on the methods of leader-follower and artificial potential is built for multi-mobile robots; And then, the leader robot avoids obstacles autonomously, the follower robots track the leader robot, and detect obstacles by the sensors and then avoid obstacles; At last, the robots formation arrived their goal after avoiding obstacles and resuming their formation. The simulation results proved that the presented method is valid.

Published in:

Intelligent Control and Automation (WCICA), 2010 8th World Congress on

Date of Conference:

7-9 July 2010