Changing Formations Shapes for Multiple Robots via Synchronization

机译：通过同步更改多个机器人的编队形状

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摘要

This paper shows a synchronous controller for multiple mobile robots in switching between time-varying formation.Each robot is forced to track the desired trajectory while synchronizing its movement with the two nearby robots to perform and maintain a desired time-varying formation.The dynamic model of the mobile robot is derived based on the Lagrange Method,and then,it is divided into a translational and rotational dynamic model.The proposed synchronous controller guarantees the asymptotic stability of both position errors and synchronization errors.Simulation are carried out on a group of homogenous multiple mobile robots in switching between different formation shapes in a time-varying manner.The simulation results verify the usefulness of the proposed synchronous controller in the time-varying formation tasks.

机译：本文展示了一种用于多个移动机器人的时变编队之间的同步控制器，每个机器人都被迫跟踪所需轨迹，同时使其运动与附近的两个机器人同步以执行并保持所需的时变编队。基于拉格朗日方法推导了移动机器人的运动学模型，然后将其分为平移和旋转动力学模型。所提出的同步控制器保证了位置误差和同步误差的渐近稳定性。仿真结果验证了所提出的同步控制器在时变编队任务中的有效性。

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来源
《International conference on mechatronics technology》|2012年|197-201|共5页
会议地点 Tianjin(CN)
作者
Ibrahim M.H.Sanhoury; Shamsudin H.M.Amin; Abdul Rashid Husain;
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作者单位

Centre of Artificial Intelligence and Robotics, Materials and Manufacturing Research Alliance,Universiti Teknologi Malaysia, 81310 Johor Bahru, Malaysia;

Centre of Artificial Intelligence and Robotics, Materials and Manufacturing Research Alliance,Universiti Teknologi Malaysia, 81310 Johor Bahru, Malaysia;

Centre of Artificial Intelligence and Robotics, Materials and Manufacturing Research Alliance,Universiti Teknologi Malaysia, 81310 Johor Bahru, Malaysia;

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原文格式 PDF
正文语种 eng
中图分类 TH15;
关键词
Formation control; multiple mobile robots; Synchronization; switching between formation;

机译：编队控制;多个移动机器人;同步;编队之间的切换;

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1. A Synchronization Approach to Trajectory Tracking of Multiple Mobile Robots While Maintaining Time-Varying Formations [J] . Sun D., Wang C., Shang W., Robotics, IEEE Transactions on . 2009,第5期

机译：维护时变编队的多移动机器人轨迹跟踪的同步方法
2. Experimental Validation of Distributed Cooperative Control of Multiple Mobile Robots via Local Information Exchange [J] . Gregory A Bock, Ryan T Hendrickson, Jared Allen Lamkin, International journal of handheld computing research . 2017,第2期

机译：本地信息交换的多移动机器人分布式协同控制实验验证
3. A Distributed Algorithm for Area Partitioning in Grid-Shape and Vector-Shape Configurations with Multiple Aerial Robots [J] . Acevedo Jose Joaquin, Arrue Begona C., Maza Ivan, Journal of Intelligent & Robotic Systems: Theory & Application . 2016,第1a4期

机译：具有多个空中机器人的网格形状和矢量形状配置中的区域划分分布式算法
4. Changing Formations Shapes for Multiple Robots via Synchronization [C] . Ibrahim M.H.Sanhoury, Shamsudin H.M.Amin, Abdul Rashid Husain International conference on mechatronics technology . 2012

机译：通过同步更改多个机器人的形成形状
5. Interactive Shape Control of Swarm of Robots Using Geographic Information System (GIS) Based Shape Model [D] . Jani, Apurvakumar. 2020

机译：基于地理信息系统（GIS）形状模型的机器人互动形状控制
6. Line and V-Shape Formation Based Distributed Processing for Robotic Swarms [O] . Jian Yang, Xin Wang, Peter Bauer 2018

机译：基于线形和V形形成的机器人群分布式处理
7. Switching Between Formation in a Moving Shape for Multi-Robots via Synchronization Approach [O] . Sanhoury Ibrahim M.H., Amin Shamsudin H.M., Husain Abdul Rashid 2012

机译：通过同步方法在多机器人运动形态之间切换
8. Synchronizing Information Operations and Public Affairs in a Counterinsurgency: Using Information to Shape the Operational Environment [R] . DeCarvalho, F. B. 2010

机译：在反叛乱中同步信息业务和公共事务：利用信息塑造运营环境

Changing Formations Shapes for Multiple Robots via Synchronization

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