scholarly journals Kendali Formasi Mobile Robot berdasarkan Jarak menggunakan Algoritma Cosinus

2021 ◽  
Vol 9 (4) ◽  
pp. 913
Author(s):  
ANGGORO DWI NUR ROHMAN ◽  
MUHAMMAD AZIZ MUSLIM ◽  
BAMBANG SISWOJO
Keyword(s):  
Mobile Robot ◽  
Robot Control ◽  
Formation Control ◽  
Simulation Experiment ◽  
Initial Conditions ◽  
Realistic Model ◽  
Initial Condition ◽  
Holonomic Robot ◽  
Further Development ◽  
Multi Robot

ABSTRAKKendali formasi adalah topik penelitian kendali multi-robot, dimana sekelompok robot dapat mencapai formasi tertentu dan mempertahankannya ketika berpindah ke arah yang diinginkan. Salah satu pengembangan kendali formasi adalah kendali formasi berdasarkan jarak dimana setiap individu robot menggunakan informasi jarak antara sesamanya untuk mencapai tujuan formasi. Banyak pengembangan yang dilakukan pada kendali formasi berdasarkan jarak menggunakan model yang sederhana dan membutuhkan pengembangan lebih lanjut untuk penerapan kendali ke model yang lebih nyata. Ketika penerapan kendali formasi berdasarkan jarak, terdapat permasalahan kondisi awal yaitu robot tidak dapat menentukan koordinat tetangganya. Penelitian ini akan mengembangkan algoritma cosinus sebagai solusi untuk kondisi awal kendali formasi berdasarkan jarak. Algoritma cosinus terinspirasi dari rumus segitiga sederhana dan mengharuskan robot melakukan dua langkah saja untuk dapat menemukan koordinat tetangganya. Hasil percobaan simulasi, kendali formasi berdasarkan jarak menggunakan tiga model robot holonomic dan penerapan algoritma cosinus membutuhkan waktu rata-rata 6.5 detik untuk menemukan koordinat tetangganya.Kata kunci: Kendali Formasi, Multi-Robot, Algoritma Cosinus, Mobile Robot. ABSTRACTFormation control is a research topic of multi-robot control, where a group of robots can reach a certain formation and defend it when moving in the desired direction. One of the developments is distance-based where formation goals achieved using the distance between each other only. Many developments are using a simple model and need further development into a realistic model. When applying distance-based, there is a problem in the initial condition, namely that the robot cannot find the coordinates of its neighbors when using only distance. In this work, the cosine algorithm was developed as a solution to the initial conditions which are inspired by a simple triangle formula and need only two steps to find the coordinates. From simulation experiment results, distance-based formation control using three holonomic robot models and the application of the cosine algorithm takes an average of 6.5 seconds to find the coordinates of its neighbors.Keywords: Formation Control, Multi-robot, Cosine Algorithm, Mobile Robot.

scholarly journals A Multi-Robot Formation Platform based on an Indoor Global Positioning System

2019 ◽  
Vol 9 (6) ◽  
pp. 1165
Author(s):  
Hong’an Yang ◽  
Xuefeng Bao ◽  
Shaohua Zhang ◽  
Xu Wang
Keyword(s):  
Mobile Robot ◽  
Global Positioning System ◽  
Formation Control ◽  
Transmission Control Protocol ◽  
Indoor Navigation ◽  
Wheeled Mobile Robot ◽  
Positioning System ◽  
Position Information ◽  
Global Positioning ◽  
Multi Robot

Aimed at the problem that experimental verifications are difficult to execute due to lacking effective experimental platforms in the research field of multi-robot formation, we design a simple multi-robot formation platform. This proposed general and low-cost multi-robot formation platform includes the indoor global-positioning system, the multi-robot communication system, and the wheeled mobile robot hardware. For each wheeled mobile robot in our platform, its real-time position information in the centimeter‑level precise is obtained by the Marvelmind Indoor Navigation System and orientation information is obtained by the six-degree-of-freedom gyroscope. The Transmission Control Protocol/Internet Protocol (TCP/IP) wireless communication infrastructure is selected to support the communication among robots and the data collection in the process of experiments. Finally, a set of leader–follower formation experiments are performed by our platform, which include three trajectory tracking experiments of different types and numbers under deterministic environment and a formation-maintaining experiment with external disturbances. The results illustrate that our multi-robot formation platform can be effectively used as a general testbed to evaluate and verify the feasibility and correctness of the theoretical methods in the multi-robot formation. What is more, the proposed simple and general formation platform is beneficial to the development of platforms in the fields of multi-robot coordination, formation control, and search and rescue missions.

scholarly journals Consensus Algorithms Based Multi-Robot Formation Control under Noise and Time Delay Conditions

2019 ◽  
Vol 9 (5) ◽  
pp. 1004 ◽  
Author(s):  
Heng Wei ◽  
Qiang Lv ◽  
Nanxun Duo ◽  
GuoSheng Wang ◽  
Bing Liang
Keyword(s):  
Time Delay ◽  
Mobile Robot ◽  
Formation Control ◽  
Second Order ◽  
Multiple Time ◽  
Consensus Problem ◽  
Robot System ◽  
Maximum Time ◽  
Robot Systems ◽  
Multi Robot

In recent years, the formation control of multi-mobile robots has been widely investigated by researchers. With increasing numbers of robots in the formation, distributed formation control has become the development trend of multi-mobile robot formation control, and the consensus problem is the most basic problem in the distributed multi-mobile robot control algorithm. Therefore, it is very important to analyze the consensus of multi-mobile robot systems. There are already mature and sophisticated strategies solving the consensus problem in ideal environments. However, in practical applications, uncertain factors like communication noise, communication delay and measurement errors will still lead to many problems in multi-robot formation control. In this paper, the consensus problem of second-order multi-robot systems with multiple time delays and noises is analyzed. The characteristic equation of the system is transformed into a quadratic polynomial of pure imaginary eigenvalues using the frequency domain analysis method, and then the critical stability state of the maximum time delay under noisy conditions is obtained. When all robot delays are less than the maximum time delay, the system can be stabilized and achieve consensus. Compared with the traditional Lyapunov method, this algorithm has lower conservativeness, and it is easier to extend the results to higher-order multi-robot systems. Finally, the results are verified by numerical simulation using MATLAB/Simulink. At the same time, a multi-mobile robot platform is built, and the proposed algorithm is applied to an actual multi-robot system. The experimental results show that the proposed algorithm is finally able to achieve the consensus of the second-order multi-robot system under delay and noise interference.

Investigation of Formation Control Approaches Considering the Ability of a Mobile Robot

2018 ◽  
Vol 7 (1) ◽  
pp. 18
Author(s):  
Hannes Wind ◽  
Oliver Sawodny ◽  
Thomas Br•aunl
Keyword(s):  
Literature Review ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Collision Avoidance ◽  
Formation Control ◽  
Realistic Model ◽  
Simulation Studies ◽  
The Real ◽  
Comprehensive Literature Review

This work investigates and compares various formation control approaches for mobile robots. A comprehensive literature review was conducted, with particular focus on the approaches' applicability to be implemented on real mobile robots with limited hard and software capabilities. A realistic model of mobile robots is introduced and its parameters are identi ed with measurements from actual mo-bile robots. Later on, the model is extended and used within simulation studies of the various investigated approaches. A collision avoidance controller based on a formation controller is proposed and simulations are carried out. Experiments on real mobile robots are conducted for two formation controllers and for the pro-posed collision avoidance controller. It is shown that if the requirements resulting from the simulation studies are satis ed, an implementation on the real robots is possible.

scholarly journals Flexible Morphogenesis based Formation Control for Multi-Robot Systems

2013 ◽  
Vol 2 (1) ◽  
pp. 26
Author(s):  
Jan Carlo Barca ◽  
Eugene Eu-Juin Lee ◽  
Ahmet Sekercioglu
Keyword(s):  
Robot Control ◽  
Formation Control ◽  
Control Technique ◽  
Biological Cells ◽  
Cell Level ◽  
Control Techniques ◽  
Robot Systems ◽  
A Cell ◽  
Series Of Experiments ◽  
Multi Robot

Inspired by how biological cells communicate with each other at a cell-to-cell level; morphogenesis emerged to be an effective way for local communication between homogenous robots in multi-robot systems. In this paper, we present the first steps towards a scalable morphogenesis style formation control technique, which address the drawbacks associated with current morphogenesis type formation control techniques, including their inability to distribute robots evenly across target shapes. A series of experiments, which demonstrate that the proposed technique enables groups of non-holonomic ground moving robots to generate formations in less than 9 seconds with three robots and less than 22 seconds with five robots, is also presented. These experiments furthermore reveal that the proposed technique enables groups of robots to generate formations without significantly increasing the total travel distance when faced with obstacles. This work is an important contribution to multi-robot control theory as history has shown that the success of groups often depends on efficient and robust formation control.

Is it a Right Assumption That B and Ge are Distributed Randomly After Growing a Strained HBT-Structure?

2002 ◽  
Vol 716 ◽  
Author(s):  
Victor I. Kol'dyaev
Keyword(s):  
Surface Segregation ◽  
Initial Conditions ◽  
Initial Condition ◽  
Basic Assumptions ◽  
Transient Diffusion ◽  
Segregation Process ◽  
Main Observation

AbstractIt is accepted that surface Ge atoms are considered to be responsible for the surface B segregation process. A set of original experiments is carried out. A main observation from the B and Ge profiles grown at different conditions shows that at certain conditions B is taking initiative and determine the Ge surface segregation process. basic assumptions are suggested to self-consistently explain these original experimental features and what is observed in the literature. These results have a strong implication for modeling the B diffusion in Si1-xGex where the initial conditions should be formulated accounting for the correlation in B and Ge distribution. A new assumption for the initial condition to be “all B atoms are captured by Ge” is regarded as a right one implicating that there is no any transient diffusion representing the B capturing kinetics.

scholarly journals Reinforcement-Learning-Based Asynchronous Formation Control Scheme for Multiple Unmanned Surface Vehicles

2021 ◽  
Vol 11 (2) ◽  
pp. 546
Author(s):  
Jiajia Xie ◽  
Rui Zhou ◽  
Yuan Liu ◽  
Jun Luo ◽  
Shaorong Xie ◽  
...  
Keyword(s):  
Reinforcement Learning ◽  
Formation Control ◽  
Rapid Development ◽  
Gradient Algorithm ◽  
Robot System ◽  
Physical Relationship ◽  
Unmanned Surface Vehicles ◽  
Main Challenge ◽  
Control Scheme ◽  
Multi Robot

The high performance and efficiency of multiple unmanned surface vehicles (multi-USV) promote the further civilian and military applications of coordinated USV. As the basis of multiple USVs’ cooperative work, considerable attention has been spent on developing the decentralized formation control of the USV swarm. Formation control of multiple USV belongs to the geometric problems of a multi-robot system. The main challenge is the way to generate and maintain the formation of a multi-robot system. The rapid development of reinforcement learning provides us with a new solution to deal with these problems. In this paper, we introduce a decentralized structure of the multi-USV system and employ reinforcement learning to deal with the formation control of a multi-USV system in a leader–follower topology. Therefore, we propose an asynchronous decentralized formation control scheme based on reinforcement learning for multiple USVs. First, a simplified USV model is established. Simultaneously, the formation shape model is built to provide formation parameters and to describe the physical relationship between USVs. Second, the advantage deep deterministic policy gradient algorithm (ADDPG) is proposed. Third, formation generation policies and formation maintenance policies based on the ADDPG are proposed to form and maintain the given geometry structure of the team of USVs during movement. Moreover, three new reward functions are designed and utilized to promote policy learning. Finally, various experiments are conducted to validate the performance of the proposed formation control scheme. Simulation results and contrast experiments demonstrate the efficiency and stability of the formation control scheme.

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