FORMATION CONTROL AND SWITCHING FOR MULTIPLE ROBOTS IN UNCERTAIN ENVIRONMENTS

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	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
刊名	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2010
卷号	25 期号:3 页码:240-249
关键词	Multi-robot cooperation formation control formation switching obstacle avoidance
英文摘要	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.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Automation & Control Systems ; Robotics
研究领域[WOS]	Automation & Control Systems ; Robotics
关键词[WOS]	MOBILE ROBOTS
收录类别	SCI
语种	英语
WOS记录号	WOS:000281547400008
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/3442]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
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
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.