Distributed Obstacle Avoidance-Formation Control of Mobile Robotic Network with Coordinated Group Stabilization

We present a distributed control law for a group of agents that solves the problem of formation control with obstacle avoidance and that can be combined with a coordinated group stabilization control law. In particular, we consider a control law that is given by a linear combination of distributed formation, distributed obstacle avoidance and centralized group motion control laws. Simulation results show the effectiveness of our proposed control law

Distributed Formation with Diffusive Obstacle Avoidance Control in Coordinated Mobile Robots

We study a multitasking control problem in a group of networked mobile robots where they simultaneously have to reach a prescribed shape/formation and to move as a whole towards a desired position while avoiding any obstacles encountered during transition. We propose a modular control framework that comprises of a distributed controller for achieving the formation task and obstacle avoidance task and a centralized controller for solving the group motion task. In particular, we can independently design a controller for each task and obtain the unified distributed controller by a linear combination of these controllers. We prove that the unified controller solves the aforementioned multitasking control problem. An illustrative example is given to show the efficacy of our proposed approach