Robot formation control based on a multi-potential approach
Santiago Cifuentes, José M. Girón-Sierra, Juan F. Jiménez · 2010
This paper proposes a new mobile robot formation control based on a multi-potential approach. The proposed method provides a pure reactive local mechanism that allows multiple robots to fit into formation pattern. Robots can deal with partially unknown scenarios and different formation patterns. The work is aimed to non-holonomic vehicles, constrains in speed and turn radius are considered.