Formation control in mobile actuator/sensor networks

Zhongmin Wang; Pengyu Chen; Zhen Song; YangQuan Chen; Kevin L. Moore

doi:10.1117/12.605131

27 May 2005 Formation control in mobile actuator/sensor networks

Zhongmin Wang, Pengyu Chen, Zhen Song, YangQuan Chen, Kevin L. Moore

Proceedings Volume 5804, Unmanned Ground Vehicle Technology VII; (2005) https://doi.org/10.1117/12.605131
Event: Defense and Security, 2005, Orlando, Florida, United States

Abstract

In this paper, the application of wheeled mobile robot (WMR) formation control in diffusion process characterization and control is discussed. We present a review over the current approaches on mobile robot formation control. A new consideration is presented on formation control within the framework of networked control system with wireless communication. The potential benefits of robot formation in distributed diffusion process measurement and control are discussed. In this paper, we present a new nonlinear control law for a general formation that can be useful in diffusion process boundary measurement. Then, we introduce our on-going project called Mobile Actuator and Sensor Network (MAS-net) on the diffusion process characterization and control. Experiment results are presented to illustrate how pattern formation can be achieved in MAS-net.

Citation Download Citation

Zhongmin Wang, Pengyu Chen, Zhen Song, YangQuan Chen, and Kevin L. Moore "Formation control in mobile actuator/sensor networks", Proc. SPIE 5804, Unmanned Ground Vehicle Technology VII, (27 May 2005); https://doi.org/10.1117/12.605131

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