TY - GEN
T1 - Controlling swarms of mobile robots for switching between formations using synchronization concept
AU - Sun, Dong
AU - Wang, Can
PY - 2007
Y1 - 2007
N2 - This paper presents a synchronous control approach to swarms of mobile robots in switching between formations. According to the desired formation, a synchronization control goal is derived, based on which the position synchronization error is defined as differential position errors between very pair of two neighboring robots. A decentralized trajectory tracking controller is then developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization errors to zero. Simulations are performed on a group of twenty fully-actuated mobile robots in a switching task between different ellipse curves. The simulation results demonstrate the effectiveness of the proposed synchronous control design for the formation control. © 2007 IEEE.
AB - This paper presents a synchronous control approach to swarms of mobile robots in switching between formations. According to the desired formation, a synchronization control goal is derived, based on which the position synchronization error is defined as differential position errors between very pair of two neighboring robots. A decentralized trajectory tracking controller is then developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization errors to zero. Simulations are performed on a group of twenty fully-actuated mobile robots in a switching task between different ellipse curves. The simulation results demonstrate the effectiveness of the proposed synchronous control design for the formation control. © 2007 IEEE.
KW - Formation
KW - Mobile robots
KW - Synchronization
UR - http://www.scopus.com/inward/record.url?scp=36349020797&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-36349020797&origin=recordpage
U2 - 10.1109/ROBOT.2007.363662
DO - 10.1109/ROBOT.2007.363662
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 1424406021
SN - 9781424406029
SP - 2300
EP - 2305
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2007 IEEE International Conference on Robotics and Automation (ICRA'07)
Y2 - 10 April 2007 through 14 April 2007
ER -