Distributed Formation Planning and Navigation Framework for Wheeled Mobile Robots
This study describes the development of a distributed planning and control strategy for guiding multiple mobile robots in a leader-follower formation framework, which combines together formation planning, navigation and active obstacle avoidance in industrial manufacturing environments. A layered fo...
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my.utp.eprints.49732014-04-01T07:00:10Z Distributed Formation Planning and Navigation Framework for Wheeled Mobile Robots R.M. , Kuppan Chetty M, Singaperumal T, Nagarajan TJ Mechanical engineering and machinery This study describes the development of a distributed planning and control strategy for guiding multiple mobile robots in a leader-follower formation framework, which combines together formation planning, navigation and active obstacle avoidance in industrial manufacturing environments. A layered formation control architecture consisting of functional behaviors based on the relative motion states of the robots, classified into two levels is developed. The supervisor level in the framework handles the higher-level missions such as formation and inter-robot communication and the lower level deals with the dynamic control of robots during navigation. Dynamic role switching mechanism through the exchange of leadership is incorporated in this work to tackle the problem of obstacle avoidance in the follower path. The proposed approach is validated through state based laboratory experiments using commercially available robot research platforms and the results obtained are discussed. 2011 Article PeerReviewed http://scialert.net/onlinefirst.php?issn=1812-5654 R.M. , Kuppan Chetty and M, Singaperumal and T, Nagarajan (2011) Distributed Formation Planning and Navigation Framework for Wheeled Mobile Robots. Journal of Applied Sciences . ISSN 18125654 http://eprints.utp.edu.my/4973/ |
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TJ Mechanical engineering and machinery R.M. , Kuppan Chetty M, Singaperumal T, Nagarajan Distributed Formation Planning and Navigation Framework for Wheeled Mobile Robots |
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This study describes the development of a distributed planning and control strategy for guiding multiple mobile robots in a leader-follower formation framework, which combines together formation planning, navigation and active obstacle avoidance in industrial manufacturing environments. A layered formation control architecture consisting of functional behaviors based on the relative motion states of the robots, classified into two levels is developed. The supervisor level in the framework handles the higher-level missions such as formation and inter-robot communication and the lower level deals with the dynamic control of robots during navigation. Dynamic role switching mechanism through the exchange of leadership is incorporated in this work to tackle the problem of obstacle avoidance in the follower path. The proposed approach is validated through state based laboratory experiments using commercially available robot research platforms and the results obtained are discussed. |
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Article |
author |
R.M. , Kuppan Chetty M, Singaperumal T, Nagarajan |
author_facet |
R.M. , Kuppan Chetty M, Singaperumal T, Nagarajan |
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R.M. , Kuppan Chetty |
title |
Distributed Formation Planning and Navigation Framework for Wheeled Mobile Robots |
title_short |
Distributed Formation Planning and Navigation Framework for Wheeled Mobile Robots |
title_full |
Distributed Formation Planning and Navigation Framework for Wheeled Mobile Robots |
title_fullStr |
Distributed Formation Planning and Navigation Framework for Wheeled Mobile Robots |
title_full_unstemmed |
Distributed Formation Planning and Navigation Framework for Wheeled Mobile Robots |
title_sort |
distributed formation planning and navigation framework for wheeled mobile robots |
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2011 |
url |
http://scialert.net/onlinefirst.php?issn=1812-5654 http://eprints.utp.edu.my/4973/ |
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1738655379773980672 |
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13.160551 |