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Switching between formations for multiple mobile robots via synchronous controller

This paper proposes a new synchronous control law to perform multiple mobile robots trajectory tracking while maintaining time-varying formations. Each robot is controlled to track its desired trajectory while synchronizing its motion with the two nearby robots to maintain the desired time-varying f...

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Main Authors: M. H. Sanhoury, Ibrahim, Mohd. Amin, Shamsudin, Husain, Abdul Rashid
Format: Conference or Workshop Item
Published: 2012
Online Access:http://eprints.utm.my/id/eprint/34222/
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spelling my.utm.342222017-09-10T06:03:37Z http://eprints.utm.my/id/eprint/34222/ Switching between formations for multiple mobile robots via synchronous controller M. H. Sanhoury, Ibrahim Mohd. Amin, Shamsudin Husain, Abdul Rashid This paper proposes a new synchronous control law to perform multiple mobile robots trajectory tracking while maintaining time-varying formations. Each robot is controlled to track its desired trajectory while synchronizing its motion with the two nearby robots to maintain the desired time-varying formation. The dynamic model of the wheeled mobile robot (WMR) is derived, so as, it can be divided into a translational and rotational model, in order to control each model separately. Then, a synchronous controller for each robot's translation is proposed to guarantee the asymptotic stability of both position and synchronization errors. Also, an orientation controller is proposed to ensure that the robot is always oriented towards its desired position. The simulation results verify the effectiveness of the proposed synchronous controller in the formation control tasks. 2012 Conference or Workshop Item PeerReviewed M. H. Sanhoury, Ibrahim and Mohd. Amin, Shamsudin and Husain, Abdul Rashid (2012) Switching between formations for multiple mobile robots via synchronous controller. In: 2012 IEEE 8th International Colloquium on Signal Processing and Its Applications (CSPA 2012).
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
description This paper proposes a new synchronous control law to perform multiple mobile robots trajectory tracking while maintaining time-varying formations. Each robot is controlled to track its desired trajectory while synchronizing its motion with the two nearby robots to maintain the desired time-varying formation. The dynamic model of the wheeled mobile robot (WMR) is derived, so as, it can be divided into a translational and rotational model, in order to control each model separately. Then, a synchronous controller for each robot's translation is proposed to guarantee the asymptotic stability of both position and synchronization errors. Also, an orientation controller is proposed to ensure that the robot is always oriented towards its desired position. The simulation results verify the effectiveness of the proposed synchronous controller in the formation control tasks.
format Conference or Workshop Item
author M. H. Sanhoury, Ibrahim
Mohd. Amin, Shamsudin
Husain, Abdul Rashid
spellingShingle M. H. Sanhoury, Ibrahim
Mohd. Amin, Shamsudin
Husain, Abdul Rashid
Switching between formations for multiple mobile robots via synchronous controller
author_facet M. H. Sanhoury, Ibrahim
Mohd. Amin, Shamsudin
Husain, Abdul Rashid
author_sort M. H. Sanhoury, Ibrahim
title Switching between formations for multiple mobile robots via synchronous controller
title_short Switching between formations for multiple mobile robots via synchronous controller
title_full Switching between formations for multiple mobile robots via synchronous controller
title_fullStr Switching between formations for multiple mobile robots via synchronous controller
title_full_unstemmed Switching between formations for multiple mobile robots via synchronous controller
title_sort switching between formations for multiple mobile robots via synchronous controller
publishDate 2012
url http://eprints.utm.my/id/eprint/34222/
_version_ 1643649541018222592
score 13.211869

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