| Volume 27 Issue 1 - Publication Date: 1 January 2008 |
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| Formation Control and
Collision Avoidance for Multi-agent Non-holonomic Systems: Theory and Experiments |
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| Silvia Mastellone, Dušan M. Stipanovi'c, Christopher R. Graunke, Koji A. Intlekofer and Mark W. Spong Coordinated Science Laboratory, University of Illinois,
1308 West Main Street, Urbana, IL 61801, USA |
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| In this paper we present a theoretical and experimental result on the
control of multi-agent non-holonomic systems. We design and implement
a novel decentralized control scheme that achieves dynamic formation
control and collision avoidance for a group of non-holonomic
robots. First, we derive a feedback law using Lyapunov-type analysis
that guarantees collision avoidance and tracking of a reference trajectory
for a single robot. Then we extend this result to the case of
multiple non-holonomic robots, and show how different multi-agent
problems, such as formation control and leader–follower control, can
be addressed in this framework. Finally, we combine the above results
to address the problem of coordinated tracking for a group of agents.
We give extensive experimental results that validate the effectiveness
of our results in all three cases. |
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| Multimedia Key |
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 = Data |
= Code |
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Extension |
Type |
Description |
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1 |
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Example
1: Summary of experiment 1 showing
a robot tracking a circular trajectory
while avoiding collision with an obstacle
that is placed in its path. The
obstacle is placed at different points
of the path and each time the robot
follows a different alternative trajectory
in order to avoid collision and
minimize the deviation from its original
trajectory. (19.6 MB) mpeg |
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2 |
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Example
2: Illustration of experiment 2 showing
two robots moving on their path and
avoiding collision with each other in
a cooperative fashion. (13.3 MB) mpeg |
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3 |
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Example
3: Illustration of the third experiment showing three robots following a circular trajectory and dynamically changing their formation from a line to a “V” shape. (7.4 MB) mpeg |
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