A formation control algorithm using Voronoi regions
2007 (English)In: Taming Heterogeneity and Complexity of Embedded Control / [ed] Françoise Lamnabhi-Lagarrigue, Antonio Loria, Elena Panteley, Salah Laghrouche, John Wiley & Sons, 2007Chapter in book (Refereed)
We present an algorithm for stabilizing a hexagonal lattice formation of autonomous robotic agents. The algorithm is decentralized and each agent only needs to detect the relative positions of its neighbors. By partitioning the plane into Voronoi regions we can guarantee collision safety, even when the algorithm is used to produce waypoints for a non-holonomic agent to follow. In each iteration every agent moves to the centroid of the vertices of its Voronoi region, which yields formation cohesion. We define asymptotic formation stability that is independent of rotation or translation of the whole formation and prove local asymptotic stability. Finally we present simulations that confirm the stability analysis and illustrate the use of the algorithm with car-like robots.
Place, publisher, year, edition, pages
John Wiley & Sons, 2007.
IdentifiersURN: urn:nbn:se:kth:diva-90403DOI: 10.1002/9780470612217.ch24ScopusID: 2-s2.0-84889628967ISBN: 978-1905209651OAI: oai:DiVA.org:kth-90403DiVA: diva2:505349
QC 201202292012-02-292012-02-232014-01-20Bibliographically approved