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Published in:
2012 | OriginalPaper | Chapter
Synchronizing Multi-robots in Switching between Different Formations Tasks While Tracking a Line
Authors : Ibrahim M. H. Sanhoury, Shamsudin H. M. Amin, Abdul Rashid Husain
Published in: Trends in Intelligent Robotics, Automation, and Manufacturing
Publisher: Springer Berlin Heidelberg
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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.