Modeling and Control of Formations of Nonholonomic Mobile Robots

This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain with obstacles while maintaining a desired formation and changing formations when required, using graph theory.We model the team as a triple, (g, r, H), consisting of a group element that describes the gross position of the lead robot, a set of shape variables g that describe the relative positions of robots, and a control graph H that describes the behaviors of the robots in the formation. Our framework enables the representation and enumeration of possible control graphs and the coordination of transitions between any two formations

Robot Swarm Leader Follower Menggunakan Algoritma Logika Fuzzy Interval Tipe 2

Penelitian ini dilakukan pada robot swarm dengan metode leader follower menggunakan kontrol gerak robot dengan Algoritma Logika Fuzzy Interval Tipe (LFIT) 2. Robot bergerak dengan secara beriringan, dimana robot dibelakang disebut robot follower dan robot pemimpin disebut sebagai leader. Algoritma Logika Fuzzy Interval Tipe (LFIT) 2 digunakan untuk sistem navigasi pada robot leader dan follower dalam menghindari halangan, bergerak dalam kelompok dan mencapai target. Hasil yang dicapai pada penelitian ini berupa surface yang lebih baik daripada algoritma Logika Fuzzy Tipe (LFT) 1

Formation of Multiple Groups of Mobile Robots Using Sliding Mode Control

Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT) \cite{c39}, has been applied to decompose the combined dynamics of wheeled mobile robots (WMRs) into three subsystems: intra and inter group shape dynamics, and the dynamics of the centroid. Separate controllers have been designed for each subsystem. The gains of the controllers are such chosen that the overall system becomes singularly perturbed system. Then sliding mode controllers are designed on the singularly perturbed system to drive the subsystems on sliding surfaces in finite time. Negative gradient of a potential based function has been added to the sliding surface to ensure collision avoidance among the robots in finite time. The efficacy of the proposed controller is established through simulation results.Comment: 8 pages, 5 figure

Construction of models of sensory networks and their estimation by methods of theory of the graphs

Розв’язано задачу забезпечення зв’язності для безпровідних сенсорних мереж на основі теорії графів. Грунтуючись на цьому, запропоновано процес формування контролю. Досліджено лідер-повторювану топологію для гетерогенних мереж і представлено достатні та необхідні умови для керованості й контрольованості мережі.The problem of providing connectivity for wireless sensor networks based on graph theory was solved. Based on this, was proposed the formation control. The leader-follower topology of heterogeneous networks was investigated and were presented necessary and sufficient conditions for control and controllability of the network

CONTROL ALGORITHMS FOR GROUPS OF KINEMATIC UNICYCLE AND SKID-STEERING MOBILE ROBOTS WITH RESTRICTED INPUTS

Abstract. The paper presents analytical and practical studies concerning the control problems of a group of Wheeled Mobile Robots (WMRs) subject to physical constraints. Firstly, controllers for achieving trajectory tracking for kinematic unicycle-like and skidsteering mobile robots with restricted control inputs are established. Next, the underlying tracking controllers are applied for group control under the condition of actuator constraints. In particular we are developing control strategies for establishing rigid and convoy-like formations for vehicles with bounded inputs. The group control approach is based on the concepts of virtual robot and virtual formation. The proposed controllers employ smooth bounded functions that can easily be realized. The performance of the resulting controllers are demonstrated by means of numerical and simulation results

Robot Swarm Leader Follower Menggunakan Algoritma Logika Fuzzy Interval Tipe 2

Penelitian ini dilakukan pada robot swarm dengan metode leader follower menggunakan kontrol gerak robot dengan Algoritma Logika Fuzzy Interval Tipe (LFIT) 2. Robot bergerak dengan secara beriringan, dimana robot dibelakang disebut robot follower dan robot pemimpin disebut sebagai leader. Algoritma Logika Fuzzy Interval Tipe (LFIT) 2 digunakan untuk sistem navigasi pada robot leader dan follower dalam menghindari halangan, bergerak dalam kelompok dan mencapai target. Hasil yang dicapai pada penelitian ini berupa surface yang lebih baik daripada algoritma Logika Fuzzy Tipe (LFT) 1.