relation: https://khub.utp.edu.my/scholars/3094/
title: Behavior based multi robot formations with active obstacle avoidance based on switching control strategy
creator: Kuppan Chetty, R.M.
creator: Singaperumal, M.
creator: Nagarajan, T.
description: This paper considers the problem of formation control and obstacle avoidance for a group of non-holonomic mobile robots in a leader referenced model based on reactive switching control strategy. Three important issues related to the multi robot formation namely distributed formation control framework, dynamic role switching algorithm and real time implementations are investigated. The switching control strategy combines together formation planning, navigation and active obstacle avoidance in a layered control framework composed of functional behaviors based on the relative motion states of the robots employed in the group. Dynamic role switching mechanism incorporated in this work to tackles the problem of obstacle avoidance in the follower path. The proposed approach is validated through laboratory experiments using commercially available robot research platforms and the results obtained are discussed. © (2012) Trans Tech Publications, Switzerland.
date: 2012
type: Article
type: PeerReviewed
identifier:   Kuppan Chetty, R.M. and Singaperumal, M. and Nagarajan, T.  (2012) Behavior based multi robot formations with active obstacle avoidance based on switching control strategy.  Advanced Materials Research, 433-44.  pp. 6630-6635.  ISSN 10226680     
relation: https://www.scopus.com/inward/record.uri?eid=2-s2.0-84856038394&doi=10.4028%2fwww.scientific.net%2fAMR.433-440.6630&partnerID=40&md5=baa15b8939f61ea40621358f8dc11a83
relation: 10.4028/www.scientific.net/AMR.433-440.6630
identifier: 10.4028/www.scientific.net/AMR.433-440.6630