A decentralized formation control method including self-organization around a target

Mohamed Anouard El Kamel , Lotfi Beji (1) , Azgal Abichou (2)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 LIM - Laboratoire d'Ingénierie Mathématique

This paper presents a new strategy for formation control of multiple mobile robots to capture a target including self organization. A decentralized formation control is proposed to make the system more reliable and fault-tolerant. Acting on a hostile environnement, each robot of the formation has to avoid an obstacle. For that, we propose a new technique that modifies the trajectory behavior while preserving the formation convergence. LaSalle's theorem is applied to construct the proposed smooth continuous feedback control, to surround the target. The validity of convergence and obstacle avoidance is supported by computer simulation.

Mots clés: Formation control; Decentralized control; Obstacle avoidance; Target surrounding

Domaines: Sciences de l'ingénieur [physics]

Mohamed Anouard El Kamel, Lotfi Beji, Azgal Abichou. A decentralized formation control method including self-organization around a target. 9th IFAC Symposium on Robot Control (SyRoCo'09), Sep 2009, Gifu, Japan. ⟨10.3182/20090909-4-JP-2010.00061⟩. ⟨hal-00653669⟩