Distributed multi-robot tracking control based on effective sectors in unknown environment

作者：Zhang Wenwen^*; Cao Zhiqiang; Yuan Yuan; Zhou Chao

来源：Robot, 2009, 31(SUPPL.): 81-85.

• Autonomous tracking
• Free region
• Local coordinate system
• Local sensing
• Multirobots
• Relative distances
• Switching conditions
• Tracking problem
• Unknown environments

A distributed autonomous tracking approach based on effective sectors for mobile robots is proposed in this paper to solve the tracking problem with the constraints of relative distance and obseravation angle. Each follower senses and locates its leader as well as ambient obstacles in its local coordinate system. The concept of effective sector is given to describe possible collision-free regions. Further, the states set(searching state, round-obstacle state, tracking state) is established and the corresponding switching conditions are given, which ensures cooperative collision-free tracking with its leader. The proposed approach has a good scalability and its validity is verified by experiments with physical mobile robots.

• 出版日期2009