Hierarchical formation control based on a vector field method for wheeled mobile Robots

IEEE Transactions on Robotics

Volumn 28, Issue 6, 2012, Pages 1335-1345

  Kwon, Ji Wook ^a   Chwa, Dongkyoung ^b  

^a Korea Institute of Industrial Technology   (South Korea)

^b Ajou University   (South Korea)

Author keywords

Flexible formation; hierarchical formation; leader follower control; mobile robots; vector field method

Indexed keywords

CONTROL THEORY; MOBILE ROBOTS; TARGET TRACKING;

CONTROL LAWS; FLEXIBLE FORMATION; FORMATION CONTROL; HIERARCHICAL FORMATION; LEADER-FOLLOWER; LEADER-FOLLOWER FORMATIONS; LINE FORMATIONS; LINE OF SIGHT; MULTIPLE MOBILE ROBOT; RIGID FORMATIONS; STABILITY ANALYSIS; TARGET-TRACKING CONTROL; VECTOR FIELD METHOD; WHEELED MOBILE ROBOT;

VECTORS;

EID: 84870864242     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2012.2206869     Document Type: Article

References (27)

1. H. G. Tanner, G. J. Pappas, and V. Kumar, "Leader-to-formation stability, " IEEE Trans. Robot. Autom., vol. 20, no. 30, pp. 443-455, Jun. 2004.
2. L. Chaimowicz, V. Kumar, and M. F. M. Campos, "A paradigm for dynamic coordination of multiple robots, " Auton. Robots, vol. 17, no. 1, pp. 7-21, Jul. 2004.
3. M. A. Lewis and K.-T. Tan, "High precision formation control of mobile robots using virtual structures, " Auton. Robots, vol. 4, no. 4, pp. 387-403, Oct. 1997. (Pubitemid 127508784)
4. P. Seiler, A. Pant, and K. Hedrick, "Disturbance propagation in vehicle strings, " IEEE Trans. Autom. Control, vol. 49, no. 10, pp. 1835-1841, Oct. 2004.
5. A. Renfrew, A. G. Villasenor, and P. Brunn, "Contact bridging dampers for back-up on automated highways, " IET Intell. Transp. Syst., vol. 1, no. 2, pp. 167-175, Jun. 2007. (Pubitemid 46794099)
6. D. W. Casbeer, D. B. Kingston, R. W. Beard, and T. W. Mclain, "Cooperative forest fire surveillance using a team of small unmanned air vehicles, " Int. J. Syst. Sci., vol. 37, no. 6, pp. 351-360, May 2006.
7. Y. Gu, B. Seanor, G. Campa, M. R. Napolitano, L. Rowe, S. Gururajan, and S. Wan, "Design and flight testing evaluation of formation control Laws, " IEEE Trans. Control Syst. Technol., vol. 14, no. 6, pp. 1105-1112, Nov. 2006. (Pubitemid 44637626)
8. C.-K. Ryoo, Y.-H. Kim, and M.-J. Tahk, "Optimal UAV formation guidance law with timing constraint, " Int. J. Syst. Sci., vol. 37, no. 6, pp. 415-427, May 2006.
9. F. Fahimi, "Sliding-mode formation control for underactuated surface vessels, " IEEE Trans. Robot., vol. 23, no. 3, pp. 617-622, Jun. 2007. (Pubitemid 47062038)
10. T. Balch and R. C. Arkin, "Behavior-based formation control for multirobot teams, " IEEE Trans. Robot. Autom., vol. 14, no. 6, pp. 926-939, Dec. 1998. (Pubitemid 128743571)
11. A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, and C. J. Taylor, "A vision-based formation control framework, " IEEE Trans. Robot. Autom., vol. 18, no. 5, p. 813-825, Oct. 2002.
12. O. A. A. Orqueda, X. T. Zhang, and R. Fierro, "An output feedback nonlinear decentralized controller for unmanned vehicle co-ordination, " Int. J. Robust Nonlinear Control, vol. 17, no. 12, pp. 1106-1128, Jan. 2007.
13. G. A. S. Pereira, A. K. Das, V. Kumar, and M. F. M. Campos, "Formation controlwith configuration space constraints, " in Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst., Las Vegas, NV, Oct. 2003, pp. 2755-2760.
14. T. D. Barfoot and C. M. Clark, "Motion planning for formations of mobile robots, " Robot. Auton. Syst., vol. 42, no. 2, pp. 65-78, Feb. 2004.
15. R. Ghabcheloo, A. Pascoal, C. Silvestre, and I. Kaminer, "Coordinated path following control ofmultiple wheeled robots using linearization techniques, " Int. J. Syst. Sci., vol. 37, no. 6, pp. 399-414, May 2005.
16. L. Consolini, F. Morbidi, and D. Prattichizzo, "Stabilization of a hierarchical formation of unicycle robots with velocity and curvature constraints, " IEEE Trans. Robot., vol. 25, no. 5, pp. 1176-1184, Oct. 2009.
17. T.-S. Chio and T.-J. Tarn, "Rules and control strategies of multi-robot team moving in hierarchical formation, " in Proc. IEEE Int. Conf. Robot. Autom., Sep. 2003, pp. 2701-2706.
18. D. R. Nelson, D. B. Barber, T. W. McLain, and R. W. Beard, "Vector field path following for miniature air vehicles, " IEEE Trans. Robot., vol. 23, no. 3, pp. 519-529, Jun. 2007. (Pubitemid 47062027)
19. R. Siegwart and I. R. Nourbakhsh, Introduction to Autonomous Mobile Robots. Cambridge, MA: MIT Press, 2004.
20. D. Cruz, J. McClintock, B. Perteet, O. A. A. Orqueda, Y. Cao, and R. Fierro, "Decentralized cooperative control, " IEEE Control Syst. Mag., vol. 27, no. 3, pp. 58-78, May 2007.
21. R. Vidal, O. Shakernia, and S. Sastry, "Following the flock [formation control], " IEEE Robot. Autom. Mag., vol. 11, no. 4, pp. 14-20, Dec. 2004.
22. D. Chwa, "Tracking control of differential-drive wheeled mobile robots using backstepping-like feedback linearization, " IEEE Trans. Syst., Man, Cybern. A, Syst., Humans, vol. 40, no. 6, pp. 1285-1295, Nov. 2010.
23. H. K. Khalil, Nonlinear Systems. New York: Macmillan, 1992.
24. L. Barnes, M. A. Fields, and K. Valavanis, "Unmanned ground vehicle swarm formation control using potential fields, " in Proc. 15th IEEE Mediterr. Conf. Control Autom., Athens, Greece, Jun. 2007, pp. 1-8.
25. J. Wang, X. Wu, and Z. Xu, "Potential-based obstacle avoidance in formation control, " J. Control Theory Appl., vol. 6, no. 3, pp. 311-316, Aug. 2008.
26. J. Yuan and G.-Y. Tang, "Formation control for mobile multiple robots based on hierarchical virtual structures, " in Proc. 8th IEEE Int. Conf. Control Autom., Xiamen, China, Jun. 2010, pp. 393-398.
27. A. Moutinho and J. R. Azinheira, "Stability and robustness analysis of the AURORA airship control system using dynamic inversion, " in Proc. IEEE Int. Conf. Robot. Autom., Barcelona, Spain, Apr. 2005, pp. 2265-2270. (Pubitemid 46084125)