A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model

Yanyan Dai; YoonGu Kim; SungGil Wee; DongHa Lee; SukGyu Lee

doi:10.1016/j.isatra.2014.10.008

A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model

ISA Trans. 2015 May:56:123-34. doi: 10.1016/j.isatra.2014.10.008. Epub 2014 Dec 10.

Authors

Yanyan Dai¹, YoonGu Kim², SungGil Wee², DongHa Lee², SukGyu Lee³

Affiliations

¹ Department of Electrical Engineering, Yeungnam University, Gyeongsan, Gyeongsangbuk, South Korea.
² Wellness Convergence Research Center, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea.
³ Department of Electrical Engineering, Yeungnam University, Gyeongsan, Gyeongsangbuk, South Korea. Electronic address: sglee@ynu.ac.kr.

PMID: 25497595
DOI: 10.1016/j.isatra.2014.10.008

Abstract

This paper describes a switching formation strategy for multi-robots with velocity constraints to avoid and cross obstacles. In the strategy, a leader robot plans a safe path using the geometric obstacle avoidance control method (GOACM). By calculating new desired distances and bearing angles with the leader robot, the follower robots switch into a safe formation. With considering collision avoidance, a novel robot priority model, based on the desired distance and bearing angle between the leader and follower robots, is designed during the obstacle avoidance process. The adaptive tracking control algorithm guarantees that the trajectory and velocity tracking errors converge to zero. To demonstrate the validity of the proposed methods, simulation and experiment results present that multi-robots effectively form and switch formation avoiding obstacles without collisions.

Keywords: Collision avoidance; GOACM; Leader–follower formation control; Robot priority model; Switching formation strategy.

Publication types

Research Support, Non-U.S. Gov't