Switching Between Formation in a Moving Shape for Multi-Robots via Synchronization Approach

被引：0
|
作者：
Sanhoury, Ibrahim M. H. [1 ]
Amin, Shamsudin H. M. [1 ]
Husain, Abdul Rashid [1 ]
机构：
[1] Univ Teknol Malaysia, Ctr Artificial Intelligence & Robot, Mat & Mfg Res, Johor Baharu 81310, Malaysia
来源：
INTERNATIONAL SYMPOSIUM ON ROBOTICS AND INTELLIGENT SENSORS 2012 (IRIS 2012) | 2012年 / 41卷
关键词：
formation control; synchronization approach; dynamic model; trajetry tracking; MOBILE ROBOTS; ARCHITECTURE; SPACECRAFT;
D O I：
10.1016/j.proeng.2012.07.229
中图分类号：
R318 [生物医学工程];
学科分类号：
0831 ;
摘要：
This paper extends the synchronization approach for fonnation control of multiple mobile robots. In this work, the formation shape is moving in a straight line while it is changing with time. Each robot is controlled to track its desired trajectory while synchronizing it is movement with the two neighboring robots to maintain a time-varying desired fonnation. The proposed synchronous controller guarantees the asymptotic stability of both position errors and synchronization errors. Simulation results show the effectiveness of the proposed synchronous controller in navigation. (C) 2012 The Authors. Published by Elsevier Ltd.
引用
收藏
页码：678 / 684
页数：7
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