In this paper, a formation control algorithm for mobile robots is developed based on a relative motion sensory system such as a pan/tilt camera vision system, without the need for global sensing and communication between robots. This is achieved by employing the velocity variations, instead of actual velocities, as the control inputs. Simulations and experimental results have demonstrated the effectiveness of the proposed control methods.
Liu SC,Tan DL,Liu GJ. Vision-based formation control of mobile robots with relative motion states[C]. 见:IEEE International Conference on Robotics and Biomimetics (ROBIO 2005). Hong Kong, China. July 5-9, 2005.