Changing Formations Shapes for Multiple Robots via Synchronization

摘要：

　　This paper shows a synchronous controller for multiple mobile robots in switching between time-varying formation.Each robot is forced to track the desired trajectory while synchronizing its movement with the two nearby robots to perform and maintain a desired time-varying formation.The dynamic model of the mobile robot is derived based on the Lagrange Method,and then,it is divided into a translational and rotational dynamic model.The proposed synchronous controller guarantees the asymptotic stability of both position errors and synchronization errors.Simulation are carried out on a group of homogenous multiple mobile robots in switching between different formation shapes in a time-varying manner.The simulation results verify the usefulness of the proposed synchronous controller in the time-varying formation tasks.

关键词： Formation control multiple mobile robots Synchronization switching between formation

作者: Ibrahim M.H.Sanhoury Shamsudin H.M.Amin Abdul Rashid Husain

作者单位: Centre of Artificial Intelligence and Robotics, Materials and Manufacturing Research Alliance,Universiti Teknologi Malaysia, 81310 Johor Bahru, Malaysia

会议类型: 国际会议

会议名称: 第16届机电一体化技术国际会议

会议地点: 天津

会议语种:英文

页码: 197-201

在线出版日期: 2012-10-16（万方平台首次上网日期，不代表论文的发表时间）