FORMATION CONTROL AND SWITCHING FOR MULTIPLE ROBOTS IN UNCERTAIN ENVIRONMENTS
文献类型：期刊论文
| 作者 | Yang, L.1,2 ; Cao, Z.1; Zhou, C.1; Cheng, L.1; Tan, M.1
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| 刊名 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
 |
| 出版日期 | 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 |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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