Collision-free formations with reactively-controlled virtual head robot tracking

Nguyen, AD; Kwok, NM; Ngo, VT; Ha, QP

Collision-free formations with reactively-controlled virtual head robot tracking

Nguyen, AD Kwok, NM Ngo, VT Ha, QP

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Publication Type:: Conference Proceeding
Citation:: IEEE International Conference on Intelligent Robots and Systems, 2006, pp. 2509 - 2514
Issue Date:: 2006-12-01

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Field	Value	Language
dc.contributor.author	Nguyen, AD	en_US
dc.contributor.author	Kwok, NM	en_US
dc.contributor.author	Ngo, VT	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2006-12-01	en_US
dc.identifier.citation	IEEE International Conference on Intelligent Robots and Systems, 2006, pp. 2509 - 2514	en_US
dc.identifier.isbn	142440259X	en_US
dc.identifier.isbn	9781424402595	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2884
dc.description.abstract	This paper presents an effective methodology for the control of a group of mobile robots moving in desired formations. Virtual head robot tracking and three-point l-l controllers incorporated with reactive control schemes are proposed here to overcome the cases when the control law is undefined and subject to potential inter-robot collision. In order for the whole group to enter a desired formation, a general procedure is suggested in the initialisation stage. Advantages of our approach include the establishment and maintenance of any formation from arbitrary initial conditions with collision avoidance for a large group of mobile robots. The approach is validated through simulation cases to illustrate the capability of handling singularities and avoiding collision in a group of N robots. © 2006 IEEE.	en_US
dc.relation.ispartof	IEEE International Conference on Intelligent Robots and Systems	en_US
dc.relation.isbasedon	10.1109/IROS.2006.281697	en_US
dc.title	Collision-free formations with reactively-controlled virtual head robot tracking	en_US
dc.type	Conference Proceeding
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0910 Manufacturing Engineering	en_US
dc.location.activity	Beijing, China	en_US
dc.location.activity	Brisbane, Australia
dc.location.activity	Beijing, PEOPLES R CHINA
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US

Abstract:

This paper presents an effective methodology for the control of a group of mobile robots moving in desired formations. Virtual head robot tracking and three-point l-l controllers incorporated with reactive control schemes are proposed here to overcome the cases when the control law is undefined and subject to potential inter-robot collision. In order for the whole group to enter a desired formation, a general procedure is suggested in the initialisation stage. Advantages of our approach include the establishment and maintenance of any formation from arbitrary initial conditions with collision avoidance for a large group of mobile robots. The approach is validated through simulation cases to illustrate the capability of handling singularities and avoiding collision in a group of N robots. © 2006 IEEE.

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http://hdl.handle.net/10453/2884