FORMATION CONTROL AND SWITCHING FOR MULTIPLE ROBOTS IN UNCERTAIN ENVIRONMENTS

	FORMATION CONTROL AND SWITCHING FOR MULTIPLE ROBOTS IN UNCERTAIN ENVIRONMENTS
	Yang, L.1,2 ; Cao, Z.1 ; Zhou, C.1 ; Cheng, L.1 ; Tan, M.1
发表期刊	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2010
卷号	25 期号:3 页码:240-249
文章类型	Article
摘要	A novel formation control and switching approach for multiple robots in uncertain environments is proposed in this paper. A formation parameter matrix is adopted to establish the relative relationship among the robots, and the formation control problem is converted into the tracking problem of the-off-axis point of the follower to the-off-axis point on the virtual robot, which has the same orientation as that of the leader and maintains a desired relative distance and desired observation angle with respect to the leader. The tracking control law is then designed. An obstacle avoidance strategy combined with formation switching is proposed to avoid collisions in the presence of obstacles, and a fault tolerance strategy is given to deal with the situations when some robots are broken. Simulation results are given to demonstrate the validity of the proposed approach.
关键词	Multi-robot Cooperation Formation Control Formation Switching Obstacle Avoidance
WOS标题词	Science & Technology ; Technology
关键词[WOS]	MOBILE ROBOTS
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Robotics
WOS类目	Automation & Control Systems ; Robotics
WOS记录号	WOS:000281547400008
引用统计	被引频次：11[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/3442
专题	复杂系统认知与决策实验室_先进机器人
作者单位	1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China 2.Tianjin Univ Technol & Educ, Sch Automat & Elect Engn, Tianjin 300222, Peoples R China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Yang, L.,Cao, Z.,Zhou, C.,et al. FORMATION CONTROL AND SWITCHING FOR MULTIPLE ROBOTS IN UNCERTAIN ENVIRONMENTS[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2010,25(3):240-249.
APA	Yang, L.,Cao, Z.,Zhou, C.,Cheng, L.,&Tan, M..(2010).FORMATION CONTROL AND SWITCHING FOR MULTIPLE ROBOTS IN UNCERTAIN ENVIRONMENTS.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,25(3),240-249.
MLA	Yang, L.,et al."FORMATION CONTROL AND SWITCHING FOR MULTIPLE ROBOTS IN UNCERTAIN ENVIRONMENTS".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 25.3(2010):240-249.