ROBOT FORMATION MODELLING AND CONTROL BASED ON THE RELATIVE KINEMATICS EQUATIONS

摘要

This paper deals with the problem of modelling, initialization, and control of mobile robots formation. We suggest to use a new family of methods that consists of a combination between classical guidance laws and kinematics rules. These methods allow modelling and controlling a dynamic robotic formation using sets of differential equations that give the relative motion between the robots. These differential equations give the range rate and the visibility angle between leaders and followers. Graph theory is used to store the relationship leader-follower and plan the formation by using three different matrices. The configuration of the formation is based on these matrices. Initialization of formation is also considered, where different approaches are suggested. Because of the nature of the kinematics laws, it is easy to model, initialize, and keep any formation shape. Simulation is provided to illustrate the method.