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1、IEEETRANSACTIONSONINDUSTRIALELECTRONICS,VOL.61,NO.1,JANUARY2014347ADecentralizedCooperativeControlSchemeWithObstacleAvoidanceforaTeamofMobileRobotsHamedRezaee,StudentMember,IEEE,andFarzanehAbdollahi,Member,IEEEAbstractTheproblemofformationcontrolofateamofmobilegeometricrelationshipbasedonav
2、irtualpointorvirtualleaderrobotsbasedonthevirtualandbehavioralstructuresisconsideredtoprovidepolygonformations[6].Ameritofthisstructureisinthispaper.Inthevirtualstructure,eachmobilerobotismodeledthatthevirtualleaderneverfails,andtherigidformationwillbyanelectriccharge.Themobilerobotsmovetow
3、ardacircle,bemaintainedduringtheswarming.Thisstructure,however,andduetorepulsiveforcesbetweentheidenticalcharges,regularpolygonformationsofthemobilerobotswillberealized.Forcannotreconfiguretheformation.Inthebehavioralstructure,swarmformation,avirtualmobilerobotislocatedatthecenterwhileseekin
4、gatarget,collisionorobstacleavoidanceareofthecircle,andothermobilerobotsfollowit.Intheintroducedimportantissues,andthedesiredbehaviorsareprescribedforapproach,eachmobilerobotfindsitspositionintheformationeachagentaccordingly(see[7],[8],andreferencestherein).autonomously,andtheformationcancha
5、ngeautomaticallyintheIntheviewofcommunicationnetworks,twoapproachescaseofchangeinthenumberofthemobilerobots.Thispaperalsoproposesatechniqueforavoidingobstaclesbasedonthehavebeenintroducedfortheformationcontrolofmultiagentbehavioralstructure.Inthistechnique,whenamobilerobotgetssystemsintheli
6、terature,namely,centralizedanddecentral-closetoanobstacle,whilemovingtowarditstarget,arotationalizedapproaches.Inthecentralizedapproach,thecontrolofpotentialfieldisappliedtoleadthemobilerobottoavoidtheeachagentisbasedoncontrolsignalsreceivedfromacentralobstacle,withoutlocatinginlocalminimump
7、ositions.controller.ThecentralcontrollerreceivesthestatesofalltheIndexTermsCooperativecontrol,localminima,mobileagents;then,consideringalltheagentsasasystem,controlrobots,multiagentsystems,obstacleavoidance.signalsareprovidedbythecentralcontroller.Theadv
