Changing formations shapes for multiple robots via synchronization
This paper shows a synchronous controller for multiple mobile robots in switching between time-varying formation. Each robot is forced to track the desired trajectory while synchronizing its movement with the two nearby robots to perform and maintain a desired time-varying formation. The dynamic mod...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
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2012
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| _version_ | 1796857352379432960 |
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| author | M. H. Sanhoury, Ibrahim Mohd. Amin, Shamsudin Husain, Abdul Rashid |
| author_facet | M. H. Sanhoury, Ibrahim Mohd. Amin, Shamsudin Husain, Abdul Rashid |
| author_sort | M. H. Sanhoury, Ibrahim |
| collection | ePrints |
| description | This paper shows a synchronous controller for multiple mobile robots in switching between time-varying formation. Each robot is forced to track the desired trajectory while synchronizing its movement with the two nearby robots to perform and maintain a desired time-varying formation. The dynamic model of the mobile robot is derived based on the Lagrange Method, and then, it is divided into a translational and rotational dynamic model. The proposed synchronous controller guarantees the asymptotic stability of both position errors and synchronization errors. Simulation are carried out on a group of homogenous multiple mobile robots in switching between different formation shapes in a time-varying manner. The simulation results verify the usefulness of the proposed synchronous controller in the time-varying formation tasks. |
| first_indexed | 2024-03-05T18:56:23Z |
| format | Conference or Workshop Item |
| id | utm.eprints-34374 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T18:56:23Z |
| publishDate | 2012 |
| record_format | dspace |
| spelling | utm.eprints-343742017-09-10T06:03:19Z http://eprints.utm.my/34374/ Changing formations shapes for multiple robots via synchronization M. H. Sanhoury, Ibrahim Mohd. Amin, Shamsudin Husain, Abdul Rashid TK Electrical engineering. Electronics Nuclear engineering This paper shows a synchronous controller for multiple mobile robots in switching between time-varying formation. Each robot is forced to track the desired trajectory while synchronizing its movement with the two nearby robots to perform and maintain a desired time-varying formation. The dynamic model of the mobile robot is derived based on the Lagrange Method, and then, it is divided into a translational and rotational dynamic model. The proposed synchronous controller guarantees the asymptotic stability of both position errors and synchronization errors. Simulation are carried out on a group of homogenous multiple mobile robots in switching between different formation shapes in a time-varying manner. The simulation results verify the usefulness of the proposed synchronous controller in the time-varying formation tasks. 2012 Conference or Workshop Item PeerReviewed M. H. Sanhoury, Ibrahim and Mohd. Amin, Shamsudin and Husain, Abdul Rashid (2012) Changing formations shapes for multiple robots via synchronization. In: Conference. |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering M. H. Sanhoury, Ibrahim Mohd. Amin, Shamsudin Husain, Abdul Rashid Changing formations shapes for multiple robots via synchronization |
| title | Changing formations shapes for multiple robots via synchronization |
| title_full | Changing formations shapes for multiple robots via synchronization |
| title_fullStr | Changing formations shapes for multiple robots via synchronization |
| title_full_unstemmed | Changing formations shapes for multiple robots via synchronization |
| title_short | Changing formations shapes for multiple robots via synchronization |
| title_sort | changing formations shapes for multiple robots via synchronization |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| work_keys_str_mv | AT mhsanhouryibrahim changingformationsshapesformultiplerobotsviasynchronization AT mohdaminshamsudin changingformationsshapesformultiplerobotsviasynchronization AT husainabdulrashid changingformationsshapesformultiplerobotsviasynchronization |