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Hierarchical robot formation control system

Burghardt A.

International Journal of Applied Mechanics and Engineering

2012

Vol. 17, no. 3

733-741

The paper proposes a model of a wheeled mobile robot as a part of a robot formation. Using a hierarchical control system a control algorithm from point-to-point was given, for which stability was proven in the sense of Lapunov. The proposed algorithm can be implemented in the robot formation control, in both the virtual structure and follow-the-leader algorithms. The resulting solution was simulated and verified in control and measuring environment, which was able to manage and monitor the work of up to 256 mobile robots.