Distributed planning and control of multirobot formations with navigation and obstacle avoidance
This paper considers the problem of formation control and obstacle avoidance for a group of non-holonomic mobile robots in a leader referenced model. Three important issues related to the multi robot formation namely distributed formation control framework based on switching control strategy, dynami...
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my.utp.eprints.82692014-03-28T13:01:48Z Distributed planning and control of multirobot formations with navigation and obstacle avoidance Kuppan Chetty , RM M, Singaperumal T., Nagarajan TJ Mechanical engineering and machinery This paper considers the problem of formation control and obstacle avoidance for a group of non-holonomic mobile robots in a leader referenced model. Three important issues related to the multi robot formation namely distributed formation control framework based on switching control strategy, dynamic role switching algorithm and real time implementations are investigated. This switching control strategy combines together formation planning, navigation and active obstacle avoidance in a layered control framework composed of functional behaviors based on the relative motion states of the robots employed in the group. Dynamic role switching mechanism through the exchange of leadership is also 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 Conference or Workshop Item PeerReviewed http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6069385 Kuppan Chetty , RM and M, Singaperumal and T., Nagarajan (2011) Distributed planning and control of multirobot formations with navigation and obstacle avoidance. In: Recent Advances in Intelligent Computational Systems (RAICS), 2011 IEEE , Digital Object Identifier: 10.1109/RAICS.2011.6069385 . http://eprints.utp.edu.my/8269/ |
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TJ Mechanical engineering and machinery Kuppan Chetty , RM M, Singaperumal T., Nagarajan Distributed planning and control of multirobot formations with navigation and obstacle avoidance |
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This paper considers the problem of formation control and obstacle avoidance for a group of non-holonomic mobile robots in a leader referenced model. Three important issues related to the multi robot formation namely distributed formation control framework based on switching control strategy, dynamic role switching algorithm and real time implementations are investigated. This switching control strategy combines together formation planning, navigation and active obstacle avoidance in a layered control framework composed of functional behaviors based on the relative motion states of the robots employed in the group. Dynamic role switching mechanism through the exchange of leadership is also 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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Conference or Workshop Item |
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Kuppan Chetty , RM M, Singaperumal T., Nagarajan |
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Kuppan Chetty , RM M, Singaperumal T., Nagarajan |
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Kuppan Chetty , RM |
title |
Distributed planning and control of multirobot formations with navigation and obstacle avoidance |
title_short |
Distributed planning and control of multirobot formations with navigation and obstacle avoidance |
title_full |
Distributed planning and control of multirobot formations with navigation and obstacle avoidance |
title_fullStr |
Distributed planning and control of multirobot formations with navigation and obstacle avoidance |
title_full_unstemmed |
Distributed planning and control of multirobot formations with navigation and obstacle avoidance |
title_sort |
distributed planning and control of multirobot formations with navigation and obstacle avoidance |
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2011 |
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http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6069385 http://eprints.utp.edu.my/8269/ |
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1738655643702657024 |
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13.18916 |