Time-Variant Artificial Potential Fields in Dynamic Collision Avoidance for Multi-Robot Formation

LEICA PAULO; ROSALES CLAUDIO D.; TOIBERO JUAN M.; ROBERTI FLAVIO; CARELLI RICARDO

Ciudad Autónoma de Buenos Aires

Congreso; VIII Jornadas Argentinas de Robótica; 2014

UTN-Facultad Regional Buenos Aires

In this paper, a new algorithm for controlling mobile robot flexible formation based on multiple control objectives is presented. The strategy includes the use of null space for shape and posture control. The obstacle avoidance strategy is based on the definition of fictitious potential energy. The primary objective established is to shape control and obstacle avoidance, whereas the secondary objective includes the posture control and trajectory tracking of the robot formation. Stability analysis of the proposed control system is proven. Simulation results show the performance of the proposed controllers.