Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader 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 formati...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-06-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814019857339 |
| _version_ | 1818496185097256960 |
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| author | Sung-Gil Wee Yanyan Dai Tae Hun Kang Suk-Gyu Lee |
| author_facet | Sung-Gil Wee Yanyan Dai Tae Hun Kang Suk-Gyu Lee |
| author_sort | Sung-Gil Wee |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-10T18:30:08Z |
| format | Article |
| id | doaj.art-1166f93d251d41d68471d23ceb679a37 |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-12-10T18:30:08Z |
| publishDate | 2019-06-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-1166f93d251d41d68471d23ceb679a372022-12-22T01:37:58ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402019-06-011110.1177/1687814019857339Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robotSung-Gil Wee0Yanyan Dai1Tae Hun Kang2Suk-Gyu Lee3DGIST, Daegu, Republic of KoreaDepartment of Electrical Engineering, Yeungnam University, Gyeongsan, Republic of KoreaDGIST, Daegu, Republic of KoreaDepartment of Electrical Engineering, Yeungnam University, Gyeongsan, Republic of KoreaThis 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.https://doi.org/10.1177/1687814019857339 |
| spellingShingle | Sung-Gil Wee Yanyan Dai Tae Hun Kang Suk-Gyu Lee Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot Advances in Mechanical Engineering |
| title | Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot |
| title_full | Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot |
| title_fullStr | Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot |
| title_full_unstemmed | Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot |
| title_short | Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot |
| title_sort | variable formation control of multiple robots via vrc and formation switching to accommodate large heading changes by leader robot |
| url | https://doi.org/10.1177/1687814019857339 |
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