Switching of multiple mobile robots formation control based on leader-follower

DOI

10.2991/icmmse-16.2016.54How to use a DOI?

Keywords

Multi-Robot, Leader-Follower Algorithm, Formation Switch, Coordinated Path to Follow

Abstract

At first, this article summarizes several methods of the current multi-robot formation control and introduces the basic idea of formation control algorithm based on leader-follower. Then the control algorithm is introduced into switching control process (the forming of the initial formation, maintenance and switching) of underwater formation. It is the purpose of this paper that the queue can transform the shape of itself to adjust the current underwater environment in the process of advancing, and arrive the destination safely. Finally, That is tested on two different environments with barrier in the 2D simulation platform. The simulation results show that the method is monolithic, flexible and simple in calculation, in addition, it can realize arbitrary transformation of formation.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Run Zhou
PY  - 2016/03
DA  - 2016/03
TI  - Switching of multiple mobile robots formation control based on leader-follower
BT  - Proceedings of the 2016 International Conference on Mechanics, Materials and Structural Engineering
PB  - Atlantis Press
SP  - 319
EP  - 324
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmmse-16.2016.54
DO  - 10.2991/icmmse-16.2016.54
ID  - Zhou2016/03
ER  -