Flexible formation control for obstacle avoidance based on numerical flow field
- Shao, Jinyan
- Wang, Long
- Xie, Guangming
DOIAbstract
This paper presents a novel approach to obstacle avoidance for a group of robots moving in formation. This idea is originally inspired by a phenomenon in hydrodynamics. In this approach, a virtual robot is introduced as a reference point(beacon) to determine a collision-free trajectory. Taking the virtual point as a basic point, the robot group establish a rigid body-like formation. Since the collision-freeness of the virtual robot does not guarantee all other robots avoiding obstacles, we employ a flexible formation control scheme in the framework of rigid body-like formation. Two kinds of transformation are introduced to help every robot negotiate obstacles. This approach gives a new principle to deal with obstacle avoidance in formation ...
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