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		Shicai LIU,Dalong TAN,Guangjun LIU.[en_title][J].Control Theory and Technology,2005,3(2):173~180.[Copy]

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ShicaiLIU,DalongTAN,GuangjunLIU
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Received:January 31, 2005Revised:April 30, 2005

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Vision-based formation control of mobile robots

Shicai LIU, Dalong TAN, Guangjun LIU

(Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya ng Liaoning 110016,China; Graduate School,Chinese Academy of Sciences,Beijing 100049,China; Department of Aerospace Engineering,Ryerson University,Toronto,Canada M5B 2K3)

Abstract:

In this paper,a formatio n 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 e mploying the velocity variation,instead of actual ve locities,as the control inputs.Simulation and experi mental results have demonstrated the effectiveness of the proposed control methods.

Key words: Formation control Obstacle avoida nce Mobile robot Local control Relative motion states