Formation Control and Vision Based Localization of a System of Mobile Robots

摘要

This paper presents trajectory tracking algorithms for a group of mobile robots. The dynamics of differentially driven mobile robots with nonholonomic constrains is taken into account. The paper describes simulation results for the formation motion in the environment free from obstacles and with circle-shaped static obstacles, the experimental testbed and experiments for the kinematic version of the Vector Field Orientation algorithm. The collision avoidance utilizes local artificial potential function that requires only the local information about the environment.