دورية أكاديمية
أعرض في EDS

Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot

التفاصيل البيبلوغرافية
العنوان: Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot
المؤلفون: Sung-Gil Wee, Yanyan Dai, Tae Hun Kang, Suk-Gyu Lee
المصدر: Advances in Mechanical Engineering, Vol 11 (2019)
بيانات النشر: SAGE Publishing, 2019.
سنة النشر: 2019
المجموعة: LCC:Mechanical engineering and machinery
مصطلحات موضوعية: Mechanical engineering and machinery, TJ1-1570
الوصف: This article describes a novel multi-robot formation control based on a switching technique that allows follower robots to maintain formation when the leader robot’s direction changes rapidly or unexpectedly. The formation pattern is determined using Virtual Robot’s Center of the multi-robot formation. To avoid collision, the formation of robots reformed in optimal size by estimating the distance between the robot and an obstacle in real time. When the leader robot suddenly changes its direction, waypoints of follower robots are switched and the formation is quickly reconstructed. This prevents follower robots from colliding with each other and reduces their radius of movement and allows them to follow the leader robot at higher speed. The proposed method which is inherently a flexible control of multi-robot formation guarantees collision avoidance and prevents sudden changes in waypoints of the system by gradually changing its size. The validity of the proposed method is demonstrated via simulation and experimental results.
نوع الوثيقة: article
وصف الملف: electronic resource
اللغة: English
تدمد: 1687-8140
16878140
Relation: https://doaj.org/toc/1687-8140
DOI: 10.1177/1687814019857339
URL الوصول: https://doaj.org/article/1166f93d251d41d68471d23ceb679a37
رقم الأكسشن: edsdoj.1166f93d251d41d68471d23ceb679a37
قاعدة البيانات: Directory of Open Access Journals
الوصف
تدمد:16878140
DOI:10.1177/1687814019857339