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Title Control of Self-Organizing and Geometric Formations
Publication Date
Date Accessioned
University/Publisher University of Ottawa
Abstract Multi-vehicle systems offer many advantages in engineering applications such as increased efficiency and robustness. However, the disadvantage of multi-vehicle systems is that they require a high level of organization and coordination in order to successfully complete a task. Formation control is a field of engineering that addresses this issue, and provides coordination schemes to successfully implement multi-vehicle systems. Two approaches to group coordination were proposed in this work: geometric and self-organizing formations. A geometric reconfiguring formation was developed using the leader-follower method, and the self-organizing formation was developed using the velocity potential equations from fluid flow theory. Both formation controllers were first tested in simulation in MATLAB, and then implemented on the X80 mobile robot units. Various experiments were conducted to test the formations under difficult obstacle scenarios. The robots successfully navigated through the obstacles as a coordinated as a team using the self-organizing and geometric formation control approaches.
Subjects/Keywords formation control; autonomous mobile robots; control of robot teams; leader-follower formation; self-organizing formations; decentralized control; artificial potential field formation; velocity potential; multi-agent systems; reconfiguring geometric formation
Language en
Country of Publication ca
Record ID handle:10393/30491
Repository ottawa
Date Indexed 2018-01-03
Issued Date 2014-01-01 00:00:00

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