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Leader Follower Formation Control Of Ros Enabled Mobile Robots Subject To Robots Failure
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Book Synopsis Leader-follower Formation Control of ROS Enabled Mobile Robots Subject to Robots Failure by : Yusuf Abdul-Razaq
Download or read book Leader-follower Formation Control of ROS Enabled Mobile Robots Subject to Robots Failure written by Yusuf Abdul-Razaq and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the years, control of autonomous vehicles in a defined formation has been the subject of much research. Albeit leader-follower approach being one of the most used in formation control, it suffers a major practical drawback of leader failure while cruising in formation. In this work, we aim to solve this problem by proposing a novel assignment algorithm that assigns a new leader from the follower robots to ensure robots complete their given task when their leader fails. This algorithm also assign role to new robots joining the group, and also to the failed robot when rescued back to the team. We drive robots towards their desired trajectories to achieve formation using a Lyapunov-based time-varying state tracking controller from the literature. Due to role switching amongst member robots, we propose a limit-cycle obstacle avoidance control algorithm to ensure smooth and collision free transition. Simulations and experiments are performed using the Robot Operating System (ROS) framework due to its flexibility to verify the effectiveness and reliability of the proposed algorithms.
Book Synopsis Vision Based Leader-follower Formation Control for Mobile Robots by : Gerard Sequeira
Download or read book Vision Based Leader-follower Formation Control for Mobile Robots written by Gerard Sequeira and published by . This book was released on 2007 with total page 84 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Creating systems with multiple autonomous vehicles places severe demands on the design of control schemes. Robot formation control plays a vital role in coordinating robots. As the number of members in a system rise, the complexity of each member increases. There is a proportional increase in the quantity and complexity of onboard sensing, control and computation. This thesis investigates the control of a group of mobile robots consisting of a leader and several followers to maintain a desired geometric formation"--Abstract, leaf iii.
Book Synopsis Decentralized Leader Follower Based Formation Control Strategies for Multiple Nonholonmic Mobile Robots by : Gayan Gamage Don
Download or read book Decentralized Leader Follower Based Formation Control Strategies for Multiple Nonholonmic Mobile Robots written by Gayan Gamage Don and published by . This book was released on 2009 with total page 264 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Trajectory Tracking and Formation Control of a Platoon of Mobile Robots by : Mahsa Aliakbar Golkar
Download or read book Trajectory Tracking and Formation Control of a Platoon of Mobile Robots written by Mahsa Aliakbar Golkar and published by . This book was released on 2010 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Design and Implementation of a Leader-follower Controller for a Wheel-legged Robot by : Luc Xuan Tu Phung
Download or read book Design and Implementation of a Leader-follower Controller for a Wheel-legged Robot written by Luc Xuan Tu Phung and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "Leader-follower formation control of mobile robots has been investigated by many researchers in the robotics community to control multi-robot systems. This control method can coordinate a team of unmanned vehicles by manoeuvering each robot to maintain its desired position with respect to the leader of the formation. The leader-follower control strategy can also be applied to implement human-follower behaviours on mobile robots. In this thesis, a leader-follower controller was developed for the Micro-Hydraulic Toolkit (MHT), a quadruped wheel-legged robot designed by Defence Research and Development Canada (DRDC) at the Suffield Research Centre. Previously, a velocity-based inverse kinematics controller was designed and implemented on the vehicle to control its posture. However, since the MHT does not have a steering mechanism for its wheels, this controller is unable to execute turning manoeuvres with the robot. Therefore, a separate controller was developed in order to steer the MHT to achieve leader-follower formation control. The purpose of the leader-follower controller is to compute the desired wheel velocities of the robot to reach and maintain a desired range and bearing with respect to a designated leader. To implement the controller on the physical robot, a vision algorithm was developed to measure the range and bearing of the leader with respect to the MHT using a monocular camera. A wide range of leader-follower scenarios was executed in simulation using a high fidelity physics-based model of the Toolkit and on the physical platform of the MHT to assess the performance of the leader-follower controller. The results of these tests demonstrated that the controller developed is successfully capable of executing leader-follower behaviours with the MHT." --
Book Synopsis A Potential Field Approach to Multiple Robot Formation Control by : Rohit Santosh Talati
Download or read book A Potential Field Approach to Multiple Robot Formation Control written by Rohit Santosh Talati and published by ProQuest. This book was released on 2007 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: A special case of cooperative control for mobile robots is considered--formation control. A potential field based algorithm is developed in which geometric, communication and information centric influences are considered and allowed to deform the formation. Control is accomplished in a leader-follower(s) method. One leader robot defines the overall trajectory and follower nodes individually and autonomously maintain the formation while simultaneously moving toward a goal position. The particular nodes considered are the ARRIbots developed at the Distributed and Intelligence and Autonomy Lab (DIAL) in the Automation and Robotic and Research Institute (ARRI), which are non-holonomic differential-drive wheeled robots. In order to facilitate the above, a kinematic model for the ARRIbot mobile robot that accounts for its non-holonomic constraint and particular inputs is presented. Based on this model, a trajectory tracking controller (LQR based) is detailed assuming a given reference trajectory. Finally additional artificial forces are added to account for additional constraints on the optimal node paths and positions. Obstacle avoidance is added to the formation by repulsive forces and an artificial communications force is added in order to optimize the wireless communications channel between nodes. These results are validated using computer simulations and experiments with the ARRIbots on our mobile robot platform. It was found that the potential field algorithm was successful in maintaining the required node formation. The position error for follower nodes was found to decay as required. In addition, a simulation of mine-field detection scenario was shown to successfully combine the three formation influences. The LQR trajectory tracker was found to satisfy the requirements of the formation control algorithm. The state estimate error was low for both straight line and turning motions while the tracking error was low for straight line and high for turning motions. This was attributed to the short duration of the latter and amplification of calculation and processing delay errors. The accuracy of the state estimate errors was shown to be useful in reducing the tracking error over multiple trajectories.
Book Synopsis Formation Control of Mobile Robots with Leader-follower Approach Using Fuzzy Logic Controller by : Vivek Kumar
Download or read book Formation Control of Mobile Robots with Leader-follower Approach Using Fuzzy Logic Controller written by Vivek Kumar and published by . This book was released on 2019 with total page 66 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Formation Control for Non-Holonomic Mobile Robots: A Hybrid Approach by : Juan Marcos Toibero
Download or read book Formation Control for Non-Holonomic Mobile Robots: A Hybrid Approach written by Juan Marcos Toibero and published by . This book was released on 2008 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In this chapter it has been addressed the problem of the autonomous navigation for a group of non-holonomic mobile robots. In a first stage we considered the classic leader-based formation control problem. In spite of the stability property of this controller, we have detected large transitory errors in some circumstances, being these errors unacceptable for many applications, such as transporting large objects in a cooperative way. Based on these observations and in order to present a formal solution, we have developed a hybrid approach for the formation problem. The continuous formation controller has been complemented with an orientation controller for each follower, allowing a considerable reduction of formation errors during leader manoeuvres. The resulting hybrid control system presents a switched architecture characterized by the presence of a supervisor which generates a switching signal indicating the active controller at any moment. Besides, it has been included a formal stability proof for the whole switched system based on the theory of multiple Lyapunov functions. At the end of this chapter, we exposed simulations results that allow comparing both main strategies. Next, we have included experimental results for a two-robots formation navigating on different settings: without obstacles, and avoiding isolated obstacles by considering a reactive algorithm on the leader robot. Through these experimental results it can be concluded the good performance of the hybrid approach. Future works on this area will be related to the improvement of the obstacle avoidance capability and to increase the perception abilities of the follower robots (adding new sensors).
Book Synopsis Optimal Leader-Follower Formation Control Using Dynamic Games by : Omid Danesh Shahraki
Download or read book Optimal Leader-Follower Formation Control Using Dynamic Games written by Omid Danesh Shahraki and published by . This book was released on 2015 with total page 70 pages. Available in PDF, EPUB and Kindle. Book excerpt: Formation control is one of the salient features of multi-agent robotics. The main goal of this field is to develop distributed control methods for interconnected multi-robot systems so that robots will move with respect to each other in order to keep a formation throughout their joint mission. Numerous advantages and vast engineering applications have drawn a great deal of attention to the research in this field. Dynamic game theory is a powerful method to study dynamic interactions among intelligent, rational, and self-interested agents. Differential game is among the most important sub-classes of dynamic games, because many important problems in engineering can be modeled as differential games. The underlying goal of this research is to develop a reliable formation control algorithm for multi-robot systems based on differential games. The main idea is to benefit from powerful machinery provided by dynamic games, and design an improved formation control scheme with careful attention to practical control design requirements, namely state feedback, and computation costs associated to implementation. In this work, results from algebraic graph theory is used to develop a quasi-static optimal control for heterogeneous leader{follower formation problem. The simulations are provided to study capabilities as well as limitations associated to this approach. Based on the obtained results, a finite horizon open-loop Nash differential game is developed as adaptation of differential games methodology to formation control problems in multi-robot systems. The practical control design requirements dictate state-feedback; therefore, proposed controller is complimented by adding receding horizon approach to its algorithm. It leads to a closed loop state-feedback formation control. The simulation results are presented to show the effectiveness of proposed control scheme.
Book Synopsis Duo Ji Qi Ren de Zhen Xing Kong Zhi She Ji by : 陈剑
Download or read book Duo Ji Qi Ren de Zhen Xing Kong Zhi She Ji written by 陈剑 and published by . This book was released on 2009 with total page 228 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis A Closer Look at Formation Control by : Dianwei Qian
Download or read book A Closer Look at Formation Control written by Dianwei Qian and published by . This book was released on 2020 with total page 224 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Formation control is one of the most challenging problems in cooperative multi-robots. It is defined as a coordination of a group of robots to get into and to maintain a formation with a certain shape. The formation control problem has drawn significant attention for many years, and now it is well understood and tends to be mature. This control problem is originated from biological inspires such as flocking and schooling. Its classification includes formation shape generation, formation reconfiguration and selection, formation tracking, and role assignment in formation. It also has potential applications in search and rescue missions, forest fire detection and surveillance, etc. It can be extended to many real world systems, autonomous robots, such as underwater vehicles, unmanned aerial vehicles, mobile sensor networks, rectangular agents, nonholonomic mobile robots, to name but a few. Apparently, the book cannot include all research topics. The editor and the authors wish that it could reveal some tendencies on this research field and benefit readers. In this book, different aspects of formation control are explored. Chapters includes some new tendencies and developments in research on several formation methods of multi-robot systems, that is, the 1st-order sliding mode control, the 2nd-order sliding mode control, the integral sliding mode control, the terminal sliding mode control, the sliding model control of multi-agents and the fuzzy-based formation control of multiple quadrotor systems"--
Book Synopsis Effect of Wheel Slip in Modeling and Control of Wheeled Mobile Robots by : Yu Tian
Download or read book Effect of Wheel Slip in Modeling and Control of Wheeled Mobile Robots written by Yu Tian and published by . This book was released on 2010 with total page 95 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Annals of Scientific Society for Assembly, Handling and Industrial Robotics by : Thorsten Schüppstuhl
Download or read book Annals of Scientific Society for Assembly, Handling and Industrial Robotics written by Thorsten Schüppstuhl and published by Springer Nature. This book was released on 2020-08-21 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Open Access proceedings present a good overview of the current research landscape of industrial robots. The objective of MHI Colloquium is a successful networking at academic and management level. Thereby the colloquium is focussing on a high level academic exchange to distribute the obtained research results, determine synergetic effects and trends, connect the actors personally and in conclusion strengthen the research field as well as the MHI community. Additionally there is the possibility to become acquainted with the organizing institute. Primary audience are members of the scientific association for assembly, handling and industrial robots (WG MHI).
Book Synopsis Formation Control For Non-Holonomic Mobile Robots by : Juan Marcos Toibero
Download or read book Formation Control For Non-Holonomic Mobile Robots written by Juan Marcos Toibero and published by . This book was released on 2008 with total page 1 pages. Available in PDF, EPUB and Kindle. Book excerpt: Formation Control for Non-Holonomic Mobile Robots: A Hybrid Approach.
Book Synopsis Nonlinear Control of Nonholonomic Mobile Robot Formations by : Travis Dierks
Download or read book Nonlinear Control of Nonholonomic Mobile Robot Formations written by Travis Dierks and published by . This book was released on 2007 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "In this thesis, the framework developed to control a single nonholonomic mobile robot is expanded to include the control of formations of multiple nonholonomic mobile robots. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers typically found in literature"--Abstract, leaf iv
Book Synopsis Model-based Formation Control and Policy Learning for Leader-follower Robotic Systems by : Erfu Yang
Download or read book Model-based Formation Control and Policy Learning for Leader-follower Robotic Systems written by Erfu Yang and published by . This book was released on 2008 with total page 298 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Coordinated Path Following Control and Formation Control of Mobile Robots by : Kiattisin Kanjanawanishkul
Download or read book Coordinated Path Following Control and Formation Control of Mobile Robots written by Kiattisin Kanjanawanishkul and published by . This book was released on 2010 with total page 147 pages. Available in PDF, EPUB and Kindle. Book excerpt:
