scholarly journals Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot

2019 ◽  
Vol 11 (6) ◽  
pp. 168781401985733
Author(s):  
Sung-Gil Wee ◽  
Yanyan Dai ◽  
Tae Hun Kang ◽  
Suk-Gyu Lee
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Formation Control ◽  
Experimental Results ◽  
Optimal Size ◽  
Multiple Robots ◽  
Flexible Control ◽  
Formation Pattern ◽  
Multi Robot

This article describes a novel multi-robot formation control based on a switching technique that allows follower robots to maintain formation when the leader robot’s direction changes rapidly or unexpectedly. The formation pattern is determined using Virtual Robot’s Center of the multi-robot formation. To avoid collision, the formation of robots reformed in optimal size by estimating the distance between the robot and an obstacle in real time. When the leader robot suddenly changes its direction, waypoints of follower robots are switched and the formation is quickly reconstructed. This prevents follower robots from colliding with each other and reduces their radius of movement and allows them to follow the leader robot at higher speed. The proposed method which is inherently a flexible control of multi-robot formation guarantees collision avoidance and prevents sudden changes in waypoints of the system by gradually changing its size. The validity of the proposed method is demonstrated via simulation and experimental results.

scholarly journals Edge-weighted consensus-based formation control strategy with collision avoidance

Robotica ◽  
2014 ◽  
Vol 33 (2) ◽  
pp. 332-347 ◽  
Author(s):  
Riccardo Falconi ◽  
Lorenzo Sabattini ◽  
Cristian Secchi ◽  
Cesare Fantuzzi ◽  
Claudio Melchiorri
Keyword(s):  
Mobile Robots ◽  
Collision Avoidance ◽  
Obstacle Avoidance ◽  
Control Strategy ◽  
Formation Control ◽  
Weighted Graphs ◽  
Wheeled Robots ◽  
Unknown Environments ◽  
Multi Robot

SUMMARYIn this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. Moreover, results of simulations and experiments on real robots are provided for validation purposes.

scholarly journals Distance-Based Formation Control for Quadrotors with Collision Avoidance via Lyapunov Barrier Functions

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Jawhar Ghommam ◽  
Luis F. Luque-Vega ◽  
Maarouf Saad
Keyword(s):  
Collision Avoidance ◽  
Tracking Control ◽  
Formation Control ◽  
Closed Loop ◽  
Group Formation ◽  
Closed Loop System ◽  
Relative Localization ◽  
Formation Pattern ◽  
Set Up ◽  
The Stability

In this paper, group formation control with collision avoidance is investigated for heterogeneous multiquadrotor vehicles. Specifically, the distance-based formation and tracking control problem are addressed in the framework of leader-follower architecture. In this scheme, the leader is assigned the task of intercepting a target whose velocity is unknown, while the follower quadrotors are arranged to set up a predefined rigid formation pattern, ensuring simultaneously interagent collision avoidance and relative localization. The adopted strategy for the control design consists in decoupling the quadrotor dynamics in a cascaded structure to handle its underactuated property. Furthermore, by imposing constraints on the orientation angles, the follower will never be overturned. Rigorous stability analysis is presented to prove the stability of the entire closed-loop system. Numerical simulation results are presented to validate the proposed control strategy.

scholarly journals A laser-based multi-robot collision avoidance approach in unknown environments

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875910 ◽  
Author(s):  
Yingying Yu ◽  
Zhiyong Wu ◽  
Zhiqiang Cao ◽  
Lei Pang ◽  
Liang Ren ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Fundamental Problem ◽  
Multiple Robots ◽  
Robot Safety ◽  
Unknown Environments ◽  
Laser Data ◽  
Crowded Environments ◽  
Multi Robot

As a fundamental problem, collision avoidance for multiple robots still need further investigation, especially for many robots aggregating in a tight space. In this article, a laser-based collision avoidance approach is proposed in complex multi-robot environments. The laser data is analyzed and processed in terms of distance thresholding, safe passageway analysis, obstacles repulsion, goal position attraction, and inter-robot safety. Specifically, the safe passageway analysis is used to remove unsafe directions effectively, and inter-robot safety processing reduces the possibility of being selected for the directions affected by the neighboring robots. On this basis, an optimized decision is made to guarantee that the robots achieve collision-free motions even in crowded environments. The validity of the proposed approach is verified by simulations.

scholarly journals Multi-Robot Formation Control via a Real-Time Drawing Interface

2013 ◽  
pp. 175-189 ◽  
Author(s):  
Sandro Hauri ◽  
Javier Alonso-Mora ◽  
Andreas Breitenmoser ◽  
Roland Siegwart ◽  
Paul Beardsley
Keyword(s):  
Real Time ◽  
Formation Control ◽  
Multi Robot

scholarly journals Cloud based Real-time Multi-robot Collision Avoidance for Swarm Robotics

2016 ◽  
Vol 9 (6) ◽  
pp. 339-358 ◽  
Author(s):  
Hengjing He ◽  
Supun Kamburugamuve ◽  
Geoffrey C. Fox ◽  
Wei Zhao
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Swarm Robotics ◽  
Multi Robot

Multi-Robot Systems

2012 ◽  
pp. 259-281
Keyword(s):  
Path Planning ◽  
Formation Control ◽  
Map Building ◽  
Multiple Robots ◽  
Robot Path Planning ◽  
Robotic Swarms ◽  
Robot Systems ◽  
Robot Task ◽  
Robot Path ◽  
Multi Robot

While the concepts of robotics and planning may be easily understood by the taking a single robot, it is not necessary that the problems we solve have a single robot in the planning scenario. In this chapter, the authors present systems with multiple robots, each robot attempts to coordinate and cooperate with the other robots for problem solving. The authors first look at the specific problems where multiple robots would be a boon for the system. This includes problems of maze solving, complete coverage, map building, and pursuit evasion. The inclusion of multiple robots in the scenario takes all the concepts of single robotic systems. It also introduces some new concepts and issues as well. They look into all these issues in the chapter which include optimality in terms of computational time and solution generated, completeness of planning, reaching a consensus, cooperation amongst multiple robots, and means of communication between robots for effective cooperation. These issues are highlighted by specific problems. The problems include multi-robot task allocation, robotic swarms, formation control with multiple robots, RoboCup, multi-robot path planning, and multi-robot area coverage and mapping. The authors specifically take the problem of multi-robot path planning, which is broadly classified under centralized and decentralized approaches. They discuss means by which algorithms for single robot path planning may be extended to the use of multiple robots. This is specifically done for the graph search, evolutionary, and behavioral approaches discussed in the earlier chapters of the book.

A Searching and Tracking Framework for Multi-Robot Observation of Multiple Moving Targets

2004 ◽  
Vol 8 (1) ◽  
pp. 14-22 ◽  
Author(s):  
Zheng Liu ◽  
◽  
Marcelo H. Ang Jr. ◽  
Winston Khoon Guan Seah ◽  
◽  
...  
Keyword(s):  
Real Time ◽  
Collision Avoidance ◽  
Motion Control ◽  
Potential Field ◽  
Research Topic ◽  
Artificial Potential Field ◽  
Moving Targets ◽  
Real Time Tracking ◽  
Multiple Moving Targets ◽  
Multi Robot

The "museum problem" is a typical research topic on multi-robot observation of multiple moving targets. The objective of museum problem is to optimize the distribution of robots, such that the maximal moving targets can be observed. In this paper, we present our memory based searching and artificial potential field based tracking framework for museum problem. For searching, a memory table, either local or shared, can help shorten the searching time for targets. For tracking, our artificial potential field based motion control provides real-time tracking of moving targets with collision avoidance. Qualitative simulations demonstrate the capability of our searching and tracking framework.

Formation control for multi-robot systems with collision avoidance

2018 ◽  
Vol 92 (10) ◽  
pp. 2223-2234 ◽  
Author(s):  
Hongjun Yu ◽  
Peng Shi ◽  
Cheng-Chew Lim ◽  
Dongzhe Wang
Keyword(s):  
Collision Avoidance ◽  
Formation Control ◽  
Robot Systems ◽  
Multi Robot

scholarly journals Efficient and secure real-time mobile robots cooperation using visual servoing

2020 ◽  
Vol 10 (3) ◽  
pp. 3022
Author(s):  
Soumia Boudra ◽  
Nasr-Eddine Berrached ◽  
Amine Dahane
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Visual Servoing ◽  
Reporting System ◽  
Experimental Results ◽  
Interaction Matrix ◽  
Multiple Robots ◽  
Challenging Problem ◽  
Accident Detection ◽  
Powerful Mechanism

This paper deals with the challenging problem of navigation in formation of mobiles robots fleet. For that purpose, a secure approach is used based on visual servoing to control velocities (linear and angular) of the multiple robots. To construct our system, we develop the interaction matrix which combines the moments in the image with robots velocities and we estimate the depth between each robot and the targeted object. This is done without any communication between the robots which eliminate the problem of the influence of each robot errors on the whole. For a successful visual servoing, we propose a powerful mechanism to execute safely the robots navigation, exploiting a robot accident reporting system using raspberry Pi3. In addition, in case of problem, a robot accident detection reporting system testbed is used to send an accident notification, in the form of a specifical message. Experimental results are presented using nonholonomic mobiles robots with on-board real time cameras, to show the effectiveness of the proposed method.

The Study on Signals Control System of Wet Dual-Clutch Automatic Transmission Shift Process

2012 ◽  
Vol 490-495 ◽  
pp. 1470-1474 ◽  
Author(s):  
Jin Ma ◽  
Wei Sun ◽  
Guo Qiang Liu
Keyword(s):  
Control System ◽  
Real Time ◽  
Automatic Transmission ◽  
Experimental Results ◽  
Electronic Control ◽  
Flexible Control ◽  
Shift Quality ◽  
Development Platform ◽  
Quality Signals ◽  
Electronic Control System

To ensure the dual-clutch automatic transmission shift quality, signals processing is required to be fast and stable. This paper designed a signal real-time monitoring and acquisition system for wet dual-clutch automatic transmission with Stateflow and LabVIEW8.6 development platform based on wet dual-clutch automatic transmission electronic control system. Experimental results show that the system is flexible control and responses fast.

Sign in / Sign up

Export Citation Format

Share Document