Cited 8 time in webofscience Cited 6 time in scopus

A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model

Title
A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model
Authors
Dai, YanyanKim, YoonGuWee, SungGilLee, DongHaLee, SukGyu
DGIST Authors
Lee, DongHa
Issue Date
2015-05
Citation
ISA Transactions, 56, 123-134
Type
Article
Article Type
Article
Keywords
Adaptive Tracking ControlAlgorithmsCollision AvoidanceGOACMIndustrial RobotsLeader-Follower Formation ControlLeader-Follower Formation ControlsMulti-Robot SystemsMultipurpose RobotsObstacle Avoidance ControlsPriority ModelRobot Priority ModelRobotsSwitching Formation StrategyVelocity ConstraintsVelocity Tracking
ISSN
0019-0578
Abstract
This paper describes a switching formation strategy for multi-robots with velocity constraints to avoid and cross obstacles. In the strategy, a leader robot plans a safe path using the geometric obstacle avoidance control method (GOACM). By calculating new desired distances and bearing angles with the leader robot, the follower robots switch into a safe formation. With considering collision avoidance, a novel robot priority model, based on the desired distance and bearing angle between the leader and follower robots, is designed during the obstacle avoidance process. The adaptive tracking control algorithm guarantees that the trajectory and velocity tracking errors converge to zero. To demonstrate the validity of the proposed methods, simulation and experiment results present that multi-robots effectively form and switch formation avoiding obstacles without collisions. © 2014 ISA.
URI
http://hdl.handle.net/20.500.11750/5193
DOI
10.1016/j.isatra.2014.10.008
Publisher
ISA - Instrumentation, Systems, and Automation Society
Files:
There are no files associated with this item.
Collection:
Convergence Research Center for Wellness1. Journal Articles


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