A switching formation strategy for obstacle avoidance of multi-robot system

Dai, Yanyan; Lee, Suk-Gyu; Kim, Yoongu; Wee, Sung-Gil

doi:10.1109/cyber.2014.6917507

Cited by 2 publications

(2 citation statements)

References 9 publications

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“…When designing controllers, depending on whether the non-linear dynamics are approximated/ linearized, the control methods are classified into linear control and non-linear control. In Dai et al, 11,12 robots avoid collision with obstacles as well as other robots based on predicted topography according to detected distances. In general multi-robot formations, robots share information on the positions of other robots for navigation.…”

Section: Introductionmentioning

confidence: 99%

“…The robots use potential field method to avoid collision with other robots on overlapping paths or avoid path conflict by priority within detection range. In Dai et al, 11 since non-linear control methods are developed on the basis of the original non-linear dynamical equations, they can maintain satisfactory control performance even when the state variables are far from the equilibrium point. According to Dai et al, 12 because it is difficult for the dynamics of the robot to produce the perfect velocity as the kinematic controller, the dynamic controller is also used in this article.…”

Section: Introductionmentioning

confidence: 99%

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Variable formation control of multiple robots via VRc and formation switching to accommodate large heading changes by leader robot

Wee

Dai

Kang

et al. 2019

Advances in Mechanical Engineering

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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 multirobot 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.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%