Sanhoury, Ibrahim M. H. and M. Amin, Shamsudin H. and Husain, Abdul Rashid (2012) Synchronizing multi-robots in switching between different formations tasks while tracking a line. Communications in Computer and Information Science, 330 CC . pp. 28-36. ISSN 1865-0929
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Official URL: http://dx.doi.org/10.1007/978-3-642-35197-6_4
Abstract
This paper extends the synchronization approach for formation control of multiple mobile robots in switching between different time-varying formations tasks while the entire system moving in a line. Each robot in the group is controlled to track its desired trajectory while synchronizing it is motion with the two adjacent robots to maintain a time-varying desired formation. The proposed controller guarantees the asymptotic stability of both position errors and synchronization errors. Simulation results show the effectiveness of the proposed synchronous controller in maintaining formation tasks.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | formation control, multiple mobile robots, synchronization |
| Subjects: | H Social Sciences > HD Industries. Land use. Labor |
| Divisions: | Materials & Manufacturing Research Alliance |
| ID Code: | 47568 |
| Deposited By: | Narimah Nawil |
| Deposited On: | 22 Jun 2015 05:56 |
| Last Modified: | 05 Mar 2019 02:03 |
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