BACKWARD MOTION PLANNING AND CONTROL OF MULTIPLE MOBILE ROBOTS MOVING IN TIGHTLY COUPLED FORMATIONS
Kuppan Chetty RAMANATHAN
kuppanc@hindustanuniv.ac.inHindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 (India)
Manju MOHAN
Hindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 (India)
Joshuva AROCKIA DHANRAJ
Hindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 (India)
Abstract
This work addresses the development of a distributed switching control strategy to drive the group of mobile robots in both backward and forward motion in a tightly coupled geometric pattern, as a solution for the deadlock situation that arises while navigating the unknown environment. A generalized closed-loop tracking controller considering the leader referenced model is used for the robots to remain in the formation while navigating the environment. A tracking controller using the simple geometric approach and the Instantaneous Centre of Radius (ICR), to drive the robot in the backward motion during deadlock situation is developed and presented. State-Based Modelling is used to model the behaviors/motion states of the proposed approach in MATLAB/STATEFLOW environment. Simulation studies are carried out to test the performance and error dynamics of the proposed approach combining the formation, navigation, and backward motion of the robots in all geometric patterns of formation, and the results are discussed.
Keywords:
Multi-Robot Systems, Formation control, Behavior-Based Control, Switching strategy, StateflowReferences
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Authors
Kuppan Chetty RAMANATHANkuppanc@hindustanuniv.ac.in
Hindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 India
Authors
Manju MOHANHindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 India
Authors
Joshuva AROCKIA DHANRAJHindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 India
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