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
相关论文
共 50 条
  • [21] Emerging of an object shape information caused by signal-transmission relay of multi-robots
    Ichikawa, S
    Hatayama, K
    Hara, F
    KNOWLEDGE-BASED INTELLIGENT INFORMATION AND ENGINEERING SYSTEMS, PT 4, PROCEEDINGS, 2005, 3684 : 480 - 486
  • [22] Formation control of multi-robots for on-orbit assembly of large solar sails
    Hu, Quan
    Zhang, Yao
    Zhang, Jingrui
    Hu, Haiyan
    ACTA ASTRONAUTICA, 2016, 123 : 446 - 454
  • [23] STRATEGY BASED ON MACHINE LEARNING FOR THE CONTROL OF A RIGID FORMATION IN A MULTI-ROBOTS FRAME
    Wang, Ting
    Sabourin, Christophe
    Madani, Kurosh
    ICINCO 2011: PROCEEDINGS OF THE 8TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2, 2011, : 300 - 303
  • [24] A Hybrid Path Planning and Formation Control Strategy of Multi-Robots in a Dynamic Environment
    Zhou, Meng
    Wang, Zihao
    Wang, Jing
    Dong, Zhe
    JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS, 2022, 26 (03) : 342 - 354
  • [25] A PSO-based Approach to Cooperative Foraging Multi-robots in Unknown Environments
    Cai, Yifan
    Yang, Simon X.
    Mittal, Gauri S.
    PROCEEDINGS OF THE 2013 6TH IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS (RAM), 2013, : 67 - 72
  • [26] An Improved SOM-based Approach to Dynamic Task Assignment of Multi-robots
    Zhu, Anmin
    Yang, Simon X.
    2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2010, : 2168 - 2173
  • [27] An adaptive approach for real-time communication of multi-robots based on HLA
    Simo, Rivaldo
    Santos, Leandro Henrique S.
    Brito, Alisson V.
    LANOMS 2015 8TH LATIN AMERICAN NETWORK OPERATIONS AND MANAGEMENT SYMPOSIUM, 2015, : 92 - 98
  • [28] AN IMPROVED APPROACH TO DYNAMIC TASK ASSIGNMENT OF NON-HOLONOMIC MULTI-ROBOTS
    Zhu, Anmin
    Yang, Simon X.
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2011, 26 (04): : 362 - 368
  • [29] Adaptive Reinforcement Learning Formation Control Using ORFBLS for Omnidirectional Mobile Multi-Robots
    Ching-Chih Tsai
    Hsing-Yi Chen
    Shih-Che Chen
    Feng-Chun Tai
    Guan-Ming Chen
    International Journal of Fuzzy Systems, 2023, 25 : 1756 - 1769
  • [30] Application of bat algorithm based time optimal control in multi-robots formation reconfiguration
    Guannan Li
    Hongli Xu
    Yang Lin
    Journal of Bionic Engineering, 2018, 15 : 126 - 138
12345