دورية أكاديمية
Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot
العنوان: | Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot |
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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 |
تدمد: | 16878140 |
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DOI: | 10.1177/1687814019857339 |