Formation Transition based on Geometrical Features for Multiple Autonomous Mobile Robots

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  • 幾何条件による自律移動ロボット群の編隊構造遷移
  • キカ ジョウケン ニ ヨル ジリツ イドウ ロボットグン ノ ヘンタイ コウゾウ センイ

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Abstract

In this paper, we propose a formation transition algorithm adapting to geometrical features of an environment for multiple autonomous mobile robots. In order to be compatible both keeping formation and avoiding collisions, we emproyee Delaunay diagram. According to geometrical features that apper in Delaunay diagram, the proposing algorithm determs appropriate neighbors in multiple robots. By adding an algorithm to avoid deadlock situations, the proposing algorithm can guarantee ability that all followers can move with an leader without get lost their ways. We have verified the algorith by carrying out simulations and an experiment.

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