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Decentralized behavior-based formation control of multiple robots considering obstacle avoidance

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Abstract

This paper proposes a decentralized behavior-based formation control algorithm for multiple robots considering obstacle avoidance. Using only the information of the relative position of a robot between neighboring robots and obstacles, the proposed algorithm achieves formation control based on a behavior-based algorithm. In addition, the robust formation is achieved by maintaining the distance and angle of each robot toward the leader robot without using information of the leader robot. To avoid the collisions with obstacles, the heading angles of all robots are determined by introducing the concept of an escape angle, which is related with three boundary layers between an obstacle and the robot. The layer on which the robot is located determines the start time of avoidance and escape angle; this, in turn, generates the escape path along which a robot can move toward the safe layer. In this way, the proposed method can significantly simplify the step of the information process. Finally, simulation results are provided to demonstrate the efficiency of the proposed algorithm.

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Acknowledgements

This work was supported by the National Research Foundation of Korea under a grant supported by the Korea government (MSIP) (2014R1A2A1A11053153) and by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (2017R1A2B4009486).

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, Ajou University, San 5 Wonchun-Dong, Yeongtong-Gu, Suwon, 443-749, South Korea

    Giroung Lee & Dongkyoung Chwa

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  1. Giroung Lee
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  2. Dongkyoung Chwa
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Correspondence to Dongkyoung Chwa.

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Lee, G., Chwa, D. Decentralized behavior-based formation control of multiple robots considering obstacle avoidance. Intel Serv Robotics 11, 127–138 (2018). https://doi.org/10.1007/s11370-017-0240-y

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  • DOI: https://doi.org/10.1007/s11370-017-0240-y

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