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Group Coordinated Control of Networked Mobile Robots With Applications to Object Transportation.
- Source :
-
IEEE Transactions on Vehicular Technology . Aug2021, Vol. 70 Issue 8, p8269-8274. 6p. - Publication Year :
- 2021
-
Abstract
- Inspired by the group activities of natural swarms (e.g., a flock of birds, a colony of ants, etc.), a fleet of mobile robots can be collaboratively put into work to accomplish complex real-world tasks. Depending on the nature and complexity of a problem, a multi-robot system (MRS) may need to be decomposed into several subgroups. This paper proposes a unified group coordinated control scheme for networked MRSs having multiple targets. A ‘discontinuous’ cooperative control law is first developed for a networked MRS to achieve individual sub-formations surrounding the assigned targets. A ‘continuous’ cooperative control protocol is then proposed to overcome the chattering phenomenon often caused by a discontinuous control action during hardware implementation. The closed-loop stability of the overall networked MRS is guaranteed via the Lyapunov theory and boundary-layer techniques. Finally, two hardware experiments (target-enclosing and object transportation) involving real mobile robots have been carried out to demonstrate the usefulness of the proposed scheme. [ABSTRACT FROM AUTHOR]
- Subjects :
- *MOBILE robots
*MOBILE apps
*CONTROL groups
*AGGREGATION (Robotics)
Subjects
Details
- Language :
- English
- ISSN :
- 00189545
- Volume :
- 70
- Issue :
- 8
- Database :
- Academic Search Index
- Journal :
- IEEE Transactions on Vehicular Technology
- Publication Type :
- Academic Journal
- Accession number :
- 153154805
- Full Text :
- https://doi.org/10.1109/TVT.2021.3093157