Vision-based formation control of mobile robots

摘要

In this paper,a formation control algorithm and an obstacle avoidance control algorithm for mobile robots are developed based on a relative motion sensory system such as a pan/tilt camera vision system,without the need for global sensing and communication between robots.This is achieved by employing the velocity variation,instead of actual velocities,as the control inputs.Simulation and experimental results have demonstrated the effectiveness of the proposed control methods.