INVESTIGATION OF HYBRID METHOD FOR GROUND ROBOTS FORMATION CONTROL

 cover 4 17 2017

INVESTIGATION OF HYBRID METHOD FOR GROUND ROBOTS FORMATION CONTROL

T.M. Volosatova
PhD in Technical Sciences, Bauman Moscow State Technical University (BMSTU), Associate Professor, Assistant Professor at Computer-Aided Design Department 5-1, 2-ya Baumanskaya ul., Moscow, 105005, Russia, tel.: +7(499)263-63-91, This email address is being protected from spambots. You need JavaScript enabled to view it.

A.V. Kozov
Center of Education and Research «Robotics», Bauman Moscow State Technical University, Engineer, 7, Izmailovskaya pl., Moscow, 105037, Russia, tel.: +7(499)263-63-91, This email address is being protected from spambots. You need JavaScript enabled to view it.

T.P. Ryzhova
PhD in Technical Sciences, Center of Education and Research «Robotics», Bauman Moscow State Technical University, Senior Research Scientist, 7, Iz-mailovskaya pl., Moscow, 105037, Russia, tel.: +7(499)263-63-91, This email address is being protected from spambots. You need JavaScript enabled to view it.


Received 20 October 2017.

Abstract
The paper considers the control problem for the group of ground mobile robots moving in formation. The hybrid method of formation control is described. The method is based on the use of position, speed and trajectory data of the leading robot. The paper contains the description of computer simulation experiments of the mobile robot for-mation control in accordance to considered hybrid method as well as the results of these experiments.

Key words
Mobile robot, group control, formation movement, multi-agent system, computer simulation.

Bibliographic description 
Volosatova, T., Kozov, A. and Ryzhova, T. (2017). Investigation of hybrid method for ground robots formation control. Robotics and Technical Cybernetics, 4(17), pp.52-56.

UDC identifier
681.518.3:681.5.017

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