Research on Real-time Formation Control for Multiple Mobile Robots
Shirong Liu · Bulletin of Science and Technology · 2010
Formation control is a key issue of multi-robot cooperative task execution.An auction-based real-time multirobot formation control is studied in this paper for this issue.First,a time-optimal auction strategy is devised to deal with time restricts in some multi-robot tasks such as cooperative hunting.Moreover,a real-time monitor mechanism is set up to ensure that the formation can be restructured according to the change of robot number.In addition,a suite of behaviors and motions is designed for both the auction mechanism and the physical system.Physical experiment was carried out to demonstrate the feasibility and flexibility of the proposed formation control.