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

Title
Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot
Authors
Wee, Sung-GilDai, YanyanKang, Tae HunLee, Suk-Gyu
DGIST Authors
Kang, Tae Hun
Issue Date
2019-06
Citation
Advances in Mechanical Engineering, 11(6), 1-12
Type
Article
Article Type
Article
Author Keywords
Virtual Robot&aposs Centercollision avoidanceformation switchingmulti-robot formation
Keywords
OBSTACLE AVOIDANCEFORMATION STRATEGYMOBILE ROBOTS
ISSN
1687-8132
Abstract
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. © The Author(s) 2019.
URI
http://hdl.handle.net/20.500.11750/10099
DOI
10.1177/1687814019857339
Publisher
SAGE Publications Ltd
Related Researcher
Files:
Collection:
Convergence Research Center for Collaborative Robots1. Journal Articles


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