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A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model
- A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model
- Dai, Yanyan; Kim, YoonGu; Wee, SungGil; Lee, DongHa; Lee, SukGyu
- DGIST Authors
- Lee, DongHa
- Issue Date
- ISA Transactions, 56, 123-134
- Article Type
- Adaptive Tracking Control; Algorithms; Collision Avoidance; GOACM; Industrial Robots; Leader-Follower Formation Control; Leader-Follower Formation Controls; Multi-Robot Systems; Multipurpose Robots; Obstacle Avoidance Controls; Priority Model; Robot Priority Model; Robots; Switching Formation Strategy; Velocity Constraints; Velocity Tracking
- 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.
- ISA - Instrumentation, Systems, and Automation Society
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