engleski

Positioning a Multi-Robot System Formation Using Potential Field Method

This article deals with the control of multi-robot system using the potential field method (PFM). An analytic fuzzy approach based on the principles of kinematics of rigid body is proposed. We assume that all robots are of the differential structure which is the most common structure in the practical applications of so-called service mobile robots. The PFM in such systems is used to generate robots desired trajectories. Properties of the method are illustrated and discussed on the simulation examples of multi-robot system to form a prescribed geometric arrangement.

wheeled mobile robot; multi-robot system positioning; potential field; formation control

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