%0 Journal Article
%@ 10226680
%A Kuppan Chetty, R.M.
%A Singaperumal, M.
%A Nagarajan, T.
%C Singapore
%D 2012
%F scholars:3094
%J Advanced Materials Research
%K Behavior-based control; Formation control; Multi-robot systems; Nonholonomic systems; State-based; Switching Control Strategy, Information technology; Materials science; Robot programming; Robots; Switching; Switching systems, Behavioral research
%P 6630-6635
%R 10.4028/www.scientific.net/AMR.433-440.6630
%T Behavior based multi robot formations with active obstacle avoidance based on switching control strategy
%U https://khub.utp.edu.my/scholars/3094/
%V 433-44
%X 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.
%Z cited By 28; Conference of 2011 International Conference on Material Science and Information Technology, MSIT2011 ; Conference Date: 16 September 2011 Through 18 September 2011; Conference Code:88150