Abstract
AbstractThis paper deals with time varying formation control of mobile robots i.e. the formation can change during the mission. To achieve this goal differential game approach is proposed to control the formation. A time varying incidence matrix is defined to determine the interconnection between robots. An open loop Nash equilibrium solution is employed to satisfy the defined cost function for each robot (the players in differential game) and control the formation. The convergence of the proposed approach to the desired formation is studied. By minor modifications, the introduced approach can be applied for a wide range of fully decentralized to leader follower formation. The effectiveness of the proposed method is verified by simulations.
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