By Topic

Robotic Formation Control using Variable Structure Systems Approach

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Ha, Q.R. ; ARC Centre of Excellence for Autonomous Syst., Technol. Univ., Sydney, NSW ; Ha, H.M. ; Dissanayake, G.

This paper addresses robust control of multiple mobile robots moving in desired formations. A rigorous control technique for such an agent-based robotic system may encounter problems of singularity, parameter sensitivity and inter-robot collision. Our proposed framework focuses on the enhancement of robustness as well as collision-free establishment of formations even in the case of singularity and uncertainties in sensing information of the reference coordinates by using variable structure controllers incorporated with a reactive control scheme. Advantages of the approach are verified in simulation of three robots moving in a line, a column and a wedge

Published in:

Distributed Intelligent Systems: Collective Intelligence and Its Applications, 2006. DIS 2006. IEEE Workshop on

Date of Conference:

15-16 June 2006