- Tytuł:
- Backward motion planning and control of multiple mobile robots moving in tightly coupled formations
- Autorzy:
-
Ramanathan, Kuppan Chetty
Mohan, Manju
Dhanraj, Joshuva Arockia - Powiązania:
- https://bibliotekanauki.pl/articles/1956065.pdf
- Data publikacji:
- 2021
- Wydawca:
- Polskie Towarzystwo Promocji Wiedzy
- Tematy:
-
multi-robot systems
formation control
behavior-based control
switching strategy
Stateflow
systemy wielorobotowe
kontrola formacji
kontrola behawioralna
strategia przełączania - Opis:
- This work addresses the development of a distributed switching control strategy to drive the group of mobile robots in both backward and forward motion in a tightly coupled geometric pattern, as a solution for the deadlock situation that arises while navigating the unknown environment. A generalized closed-loop tracking controller considering the leader referenced model is used for the robots to remain in the formation while navigating the environment. A tracking controller using the simple geometric approach and the Instantaneous Centre of Radius (ICR), to drive the robot in the backward motion during deadlock situation is developed and presented. State-Based Modelling is used to model the behaviors/motion states of the proposed approach in MATLAB/STATEFLOW environment. Simulation studies are carried out to test the performance and error dynamics of the proposed approach combining the formation, navigation, and backward motion of the robots in all geometric patterns of formation, and the results are discussed.
- Źródło:
-
Applied Computer Science; 2021, 17, 3; 60-72
1895-3735 - Pojawia się w:
- Applied Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł