Symmetric caging formation for convex polygonal object transportation by multiple mobile robots based on fuzzy sliding mode control

被引：35

作者：

Dai, Yanyan ^{[1
]}

Kim, YoonGu ^{[2
]}

Wee, SungGil ^{[2
]}

Lee, DongHa ^{[2
]}

Lee, SukGyu ^{[1
]}

机构：

[1] Yeungnam Univ, Dept Elect Engn, Gyongsan, South Korea

[2] DGIST, Wellness Convergence Res Ctr, Seoul, South Korea

来源：

ISA TRANSACTIONS | 2016年 / 60卷

关键词：

Symmetric caging formation; Convex polygonal object transportation; Collision avoidance; Obstacle avoidance; Fuzzy sliding mode control; TRAJECTORY-TRACKING; STRATEGY;

D O I：

10.1016/j.isatra.2015.11.017

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, the problem of object caging and transporting is considered for multiple mobile robots. With the consideration of minimizing the number of robots and decreasing the rotation of the object, the proper points are calculated and assigned to the multiple mobile robots to allow them to form a symmetric caging formation. The caging formation guarantees that all of the Euclidean distances between any two adjacent robots are smaller than the minimal width of the polygonal object so that the object cannot escape. In order to avoid collision among robots, the parameter of the robots radius is utilized to design the caging formation, and the A* algorithm is used so that mobile robots can move to the proper points. In order to avoid obstacles, the robots and the object are regarded as a rigid body to apply artificial potential field method. The fuzzy sliding mode control method is applied for tracking control of the nonholonomic mobile robots. Finally, the simulation and experimental results show that multiple mobile robots are able to cage and transport the polygonal object to the goal position, avoiding obstacles. (C) 2015 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：321 / 332

页数：12

共 22 条

[1]

Brockett RW., 1983, DIFFERENTIAL GEOMETR, V27, P181

[2]

Chang YH, 2013, INT J FUZZY SYST, V15, P435

[3] A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model [J].

Dai, Yanyan ;

Kim, YoonGu ;

Wee, SungGil ;

Lee, DongHa ;

Lee, SukGyu .

ISA TRANSACTIONS, 2015, 56 :123-134

[4]

Fink J., 2007, ROB SCI SYST C

[5] Robust formation control without velocity measurement of the leader robot [J].

Ghommam, J. ;

Mehrjerdi, H. ;

Saad, M. .

CONTROL ENGINEERING PRACTICE, 2013, 21 (08) :1143-1156

[6]

Guilherme A., 2002, EXPT ROBOTICS, P275

[7]

Gyuho Eoh, 2011, 2011 IEEE/SICE International Symposium on System Integration (SII 2011), P726, DOI 10.1109/SII.2011.6147538

[8]

Kuperberg W., 1990, P DIMACS WORKSH POL, P584

[9]

Li YD, 2009, 2009 ISECS INTERNATIONAL COLLOQUIUM ON COMPUTING, COMMUNICATION, CONTROL, AND MANAGEMENT, VOL II, P55, DOI 10.1109/CCCM.2009.5267989

[10] Mobile robot trajectory tracking using noisy RSS measurements: An RFID approach [J].

Miah, M. Suruz ;

Gueaieb, Wail .

ISA TRANSACTIONS, 2014, 53 (02) :433-443

← 1 2 3 →