2012 | OriginalPaper | Buchkapitel
Synchronizing Multi-robots in Switching between Different Formations Tasks While Tracking a Line
verfasst von : Ibrahim M. H. Sanhoury, Shamsudin H. M. Amin, Abdul Rashid Husain
Erschienen in: Trends in Intelligent Robotics, Automation, and Manufacturing
Verlag: Springer Berlin Heidelberg
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
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.