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Formation optimization for a fleet of wheeled mobile robots — A geometric approach by Rajankumar M. Bhatt; Chin Pei Tang; Venkat N. Krovi is a Engineering article available to read on EtoBox.

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Tight formation-based operations are critical in several emerging applications for robot collectives -ranging from cooperative payload transport to synchronized distributed data-collection. In this paper, we investigate the optimal relative layout for members of a team of Differentially-Driven Wheeled Mobile Robots (DD-WMRs) moving in formation for ultimate deployment in cooperative payload transport tasks. Our particular focus is on modeling such formations, developing the motion plans and determining the "best formation" in a differentialgeometric setting. Specifically, a preferred team-fixed frame serves as a virtual leader inducing motion plans for the individual DD-WMRs which form the vertices of a virtual structure. The resulting motion plans for the DD-WMRs as well as overall team-performance depend both on the specified team-frame motions as well as their relative-layout within the formation. Emphasis is placed on developing suitable invariant (yet quantitative) measures of formation quality and a systematic optimization-based selection of the formation-layout. The use of relative formation-parameterization with respect to a team-frame serves to decouple the team-level opti

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Author

Rajankumar M. Bhatt; Chin Pei Tang; Venkat N. Krovi

Publisher

Elsevier Science; Elsevier ; Elsevier BV (ISSN 0921-8890)

Published

2009

Language

EN

Field

Engineering (Physical Sciences)