Universiti Teknologi Malaysia Institutional Repository

Synchronizing multi-robots in switching between different formations tasks while tracking a line

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 13:56
Last Modified:05 Mar 2019 10:03

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