Synchronizing Multi-robots in Switching between Different Formations Tasks While Tracking a Line

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.

[1]  Richard M. Murray,et al.  Information flow and cooperative control of vehicle formations , 2004, IEEE Transactions on Automatic Control.

[2]  Shuzhi Sam Ge,et al.  Multi-robot formations: queues and artificial potential trenches , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[3]  R. Beard,et al.  Formation feedback control for multiple spacecraft via virtual structures , 2004 .

[4]  Kar-Han Tan,et al.  High Precision Formation Control of Mobile Robots Using Virtual Structures , 1997, Auton. Robots.

[5]  Suk-Gyu Lee,et al.  A Stable Formation Control Using Approximation of Translational and Angular Accelerations , 2011 .

[6]  Gang Feng,et al.  A Synchronization Approach to Trajectory Tracking of Multiple Mobile Robots While Maintaining Time-Varying Formations , 2009, IEEE Transactions on Robotics.

[7]  Lynne E. Parker,et al.  ALLIANCE: an architecture for fault tolerant multirobot cooperation , 1998, IEEE Trans. Robotics Autom..

[8]  Vijay Kumar,et al.  Modeling and control of formations of nonholonomic mobile robots , 2001, IEEE Trans. Robotics Autom..

[9]  Xiaoming Hu,et al.  Formation constrained multi-agent control , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[10]  Vijay Kumar,et al.  Leader-to-formation stability , 2004, IEEE Transactions on Robotics and Automation.

[11]  Xiaobo Lai,et al.  Research on Duct Flow Field Optimisation of a Robot Vacuum Cleaner , 2011 .

[12]  Camillo J. Taylor,et al.  A vision-based formation control framework , 2002, IEEE Trans. Robotics Autom..

[13]  Kouhei Ohnishi,et al.  Autonomous decentralized control for formation of multiple mobile robots considering ability of robot , 2004, IEEE Transactions on Industrial Electronics.

[14]  A. R. Husain,et al.  Switching between formations for multiple mobile robots via synchronous controller , 2012, 2012 IEEE 8th International Colloquium on Signal Processing and its Applications.

[15]  Tucker R. Balch,et al.  Behavior-based formation control for multirobot teams , 1998, IEEE Trans. Robotics Autom..