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Synchronizing multi-robots in switching between different formations tasks while tracking a line

This paper extends the synchronization approach for formation control of multiple mobile robots in switching between different time-varying formations tasks while the entire system moving in a line. Each robot in the group is controlled to track its desired trajectory while synchronizing it is motio...

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Main Authors: Sanhoury, Ibrahim M. H., M. Amin, Shamsudin H., Husain, Abdul Rashid
Format: Article
Published: Springer-Verlag 2012
Subjects:
HD Industries. Land use. Labor
Online Access:http://eprints.utm.my/id/eprint/47568/
http://dx.doi.org/10.1007/978-3-642-35197-6_4
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id my.utm.47568
record_format eprints
spelling my.utm.475682019-03-05T02:03:40Z http://eprints.utm.my/id/eprint/47568/ Synchronizing multi-robots in switching between different formations tasks while tracking a line Sanhoury, Ibrahim M. H. M. Amin, Shamsudin H. Husain, Abdul Rashid HD Industries. Land use. Labor This paper extends the synchronization approach for formation control of multiple mobile robots in switching between different time-varying formations tasks while the entire system moving in a line. Each robot in the group is controlled to track its desired trajectory while synchronizing it is motion with the two adjacent robots to maintain a time-varying desired formation. The proposed controller guarantees the asymptotic stability of both position errors and synchronization errors. Simulation results show the effectiveness of the proposed synchronous controller in maintaining formation tasks. Springer-Verlag 2012 Article PeerReviewed Sanhoury, Ibrahim M. H. and M. Amin, Shamsudin H. and Husain, Abdul Rashid (2012) Synchronizing multi-robots in switching between different formations tasks while tracking a line. Communications in Computer and Information Science, 330 CC . pp. 28-36. ISSN 1865-0929 http://dx.doi.org/10.1007/978-3-642-35197-6_4 DOI:10.1007/978-3-642-35197-6_4
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
topic HD Industries. Land use. Labor
spellingShingle HD Industries. Land use. Labor
Sanhoury, Ibrahim M. H.
M. Amin, Shamsudin H.
Husain, Abdul Rashid
Synchronizing multi-robots in switching between different formations tasks while tracking a line
description This paper extends the synchronization approach for formation control of multiple mobile robots in switching between different time-varying formations tasks while the entire system moving in a line. Each robot in the group is controlled to track its desired trajectory while synchronizing it is motion with the two adjacent robots to maintain a time-varying desired formation. The proposed controller guarantees the asymptotic stability of both position errors and synchronization errors. Simulation results show the effectiveness of the proposed synchronous controller in maintaining formation tasks.
format Article
author Sanhoury, Ibrahim M. H.
M. Amin, Shamsudin H.
Husain, Abdul Rashid
author_facet Sanhoury, Ibrahim M. H.
M. Amin, Shamsudin H.
Husain, Abdul Rashid
author_sort Sanhoury, Ibrahim M. H.
title Synchronizing multi-robots in switching between different formations tasks while tracking a line
title_short Synchronizing multi-robots in switching between different formations tasks while tracking a line
title_full Synchronizing multi-robots in switching between different formations tasks while tracking a line
title_fullStr Synchronizing multi-robots in switching between different formations tasks while tracking a line
title_full_unstemmed Synchronizing multi-robots in switching between different formations tasks while tracking a line
title_sort synchronizing multi-robots in switching between different formations tasks while tracking a line
publisher Springer-Verlag
publishDate 2012
url http://eprints.utm.my/id/eprint/47568/
http://dx.doi.org/10.1007/978-3-642-35197-6_4
_version_ 1643652344301223936
score 13.160551

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