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A switching formation strategy for obstacle avoidance of multi-robot system

Title
A switching formation strategy for obstacle avoidance of multi-robot system
Authors
Dai, YanyanLee, SukGyuKim, Yoon-GuWee, Sung-Gil
DGIST Authors
Kim, Yoon-Gu
Issue Date
2014
Citation
4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014, 457-462
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
Abstract
This paper describes a switching formation strategy for multiple robots, in order to avoid an obstacle and cross obstacles. In the strategy, a leader robot plans a safe path using geometric obstacle avoidance control method (GOACM). By calculating a new desired distance and desired bearing angle with the leader robot, the follower robots follow the leader robot, in a safe switching formation. The adaptive controller guarantees that the robot's trajectory and velocity tracking errors converge to zero with the consideration of the uncertainties in kinematic and dynamic models. The simulation results show the effectiveness of the proposed approaches © 2014 IEEE.
URI
http://hdl.handle.net/20.500.11750/3776
DOI
10.1109/CYBER.2014.6917507
Publisher
Institute of Electrical and Electronics Engineers Inc.
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Wellness2. Conference Papers


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