Combined formation control and path planning for mobile robot networks

Abstract

In this thesis, formation control and path planning algorithms in mobile robot networks are examined for both fixed and dynamically changing interaction topologies. The system is modelled using graph-based framework where the nodes denote the agents and the communication links are represented as edges of the graph. Based on this graph model, well-established algebraic graph theoretic results are employed to examine graph-based formation control for point mass holonomic and real omnidirectional robotic networks. In addition, path planning using potential fields that enables a leader as well as followers avoid obstacles in the environment while maintaining formation is analyzed. Subsequently, performance of the combined path planning and distributed formation control algorithms including saturated velocity control inputs is examined by the help of numerical simulations and it is verified that all followers reach and maintain the formation while avoiding obstacles.