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

Yanyan Dai, Sukgyu Lee, Yoon-Gu Kim, Sung-Gil Wee
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引用次数: 3

Abstract

This paper describes a switching formation strategy for multiple robots, in order to avoid an obstacle and cross obstacles. In the strategy, a leader robot plans a safe path using geometric obstacle avoidance control method (GOACM). By calculating a new desired distance and desired bearing angle with the leader robot, the follower robots follow the leader robot, in a safe switching formation. The adaptive controller guarantees that the robot's trajectory and velocity tracking errors converge to zero with the consideration of the uncertainties in kinematic and dynamic models. The simulation results show the effectiveness of the proposed approaches.
多机器人系统避障的切换队形策略
本文描述了一种多机器人避开障碍物和跨越障碍物的切换队形策略。在该策略中,领导机器人使用几何避障控制方法(GOACM)规划安全路径。通过计算与领导机器人的新的期望距离和期望方位角,跟随机器人跟随领导机器人,形成安全的切换队形。该自适应控制器考虑了运动学模型和动力学模型的不确定性,保证了机器人的轨迹和速度跟踪误差收敛于零。仿真结果表明了所提方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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