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Formation control of networked mobile robots with guaranteed obstacle and collision avoidance

Published online by Cambridge University Press:  08 March 2016

Mohammad Hosseinzadeh Yamchi  and
Reza Mahboobi Esfanjani
Mohammad Hosseinzadeh Yamchi
Affiliation:
Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran. E-mail: m_hosseinzadeh@sut.ac.ir
Reza Mahboobi Esfanjani*
Affiliation:
Department of Electrical Engineering, Sahand University of Technology, Tabriz, Iran. E-mail: m_hosseinzadeh@sut.ac.ir
*
*Corresponding author. E-mail: m_hosseinzadeh@sut.ac.ir
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Summary

This note presents a novel method to design a controller for the formation of networked mobile robots, where the communication between the members of the group is affected by variable time-delay. The control objective is twofold: to maintain the formation during the motion along a desired path and guarantee no collisions with obstacles or adjacent robots. Initially, an innovative dynamical model is formulated for the system; afterwards, the notion of model predictive control is employed to ensure collision avoidance with guaranteed stability. Simulation results are provided to demonstrate the applicability and effectiveness of the suggested method.

Keywords

Multi-agent formationCommunication delaysModel predictive controllercollision and obstacle avoidance
Type
Articles
Information
Robotica , Volume 35 , Issue 6 , June 2017 , pp. 1365 - 1377
Copyright
Copyright © Cambridge University Press 2016 

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