We analyze performance of different strategies for coordinated control of mobile robots. By considering an environment of a distribution center, the robots should transport goods from place A to place B while maintaining the desired formation and avoiding collisions. We evaluate performance of two collision avoidance strategies, namely a high-level and low-level collision avoidance approach, each using different feedback information and update rate. As performance measure we take into account the time to accomplish the transportation task and the tracking errors of the robots. Evaluation is done in several experiments with seven mobile robots.
|Title of host publication
|Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2010), 15-18 june 2010,
|Published - 2010