Behaviour based planning and control of leader follower formation in wheeled mobile robots
Abstract: This paper describes the development of a distributed planning and control strategy for multiple mobile robots in a leader-follower formation framework, which combines together formation planning, navigation and active obstacle avoidance. A layered formation control architecture consisting...
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| Format: | Article |
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Inderscience Enterprises Ltd
2010
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| Online Access: | http://scholars.utp.edu.my/id/eprint/1453/ |
| _version_ | 1848659121225596928 |
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| author | RM, Kuppan Chetty M, Singaperumal T., Nagarajan |
| author_facet | RM, Kuppan Chetty M, Singaperumal T., Nagarajan |
| author_sort | RM, Kuppan Chetty |
| building | UTP Institutional Repository |
| collection | Online Access |
| description | Abstract: This paper describes the development of a distributed planning and control strategy for multiple mobile robots in a leader-follower formation framework, which combines together formation planning, navigation and active obstacle avoidance. A layered formation control architecture consisting of functional behaviors based on the relative motion states of the robots, classified into two levels is developed. The supervisor level in the framework handles the higher level missions such as formation and inter-robot communication, and the lower level deals with the dynamic control of robots during
navigation. Dynamic role switching mechanism through the exchange of leadership is incorporated in this work to tackle the problem of obstacle avoidance in the follower path.A state based modelling framework, where the functional behaviours/motion states of the layered approach are modelled using the Augmented Finite State Machine (AFSM)
concept, is also presented in this paper. The proposed approach is validated through state based simulations via simulink/Stateflow environment and experiments using commercially available robot research platforms and the results obtained are discussed.
Keywords: Formation control; Obstacle avoidance; Non - holonomic systems; Multiple Mobile Robots; behavior - based control; State based modeling. |
| first_indexed | 2025-11-13T07:25:23Z |
| format | Article |
| id | oai:scholars.utp.edu.my:1453 |
| institution | Universiti Teknologi Petronas |
| institution_category | Local University |
| last_indexed | 2025-11-13T07:25:23Z |
| publishDate | 2010 |
| publisher | Inderscience Enterprises Ltd |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | oai:scholars.utp.edu.my:14532014-03-27T23:28:35Z http://scholars.utp.edu.my/id/eprint/1453/ Behaviour based planning and control of leader follower formation in wheeled mobile robots RM, Kuppan Chetty M, Singaperumal T., Nagarajan TJ Mechanical engineering and machinery Abstract: This paper describes the development of a distributed planning and control strategy for multiple mobile robots in a leader-follower formation framework, which combines together formation planning, navigation and active obstacle avoidance. A layered formation control architecture consisting of functional behaviors based on the relative motion states of the robots, classified into two levels is developed. The supervisor level in the framework handles the higher level missions such as formation and inter-robot communication, and the lower level deals with the dynamic control of robots during navigation. Dynamic role switching mechanism through the exchange of leadership is incorporated in this work to tackle the problem of obstacle avoidance in the follower path.A state based modelling framework, where the functional behaviours/motion states of the layered approach are modelled using the Augmented Finite State Machine (AFSM) concept, is also presented in this paper. The proposed approach is validated through state based simulations via simulink/Stateflow environment and experiments using commercially available robot research platforms and the results obtained are discussed. Keywords: Formation control; Obstacle avoidance; Non - holonomic systems; Multiple Mobile Robots; behavior - based control; State based modeling. Inderscience Enterprises Ltd 2010-06-07 Article PeerReviewed RM, Kuppan Chetty and M, Singaperumal and T., Nagarajan (2010) Behaviour based planning and control of leader follower formation in wheeled mobile robots. Int. Journal of Advanced Mechatronic Systems, 2 (4). pp. 281-296. ISSN ISSN (Online): 1756-8420 - ISSN (Print): 1756-8412 http://www.inderscience.com/browse/index.php?journalID=308&year=2010&vol=2&issue=4 Paper No. IJAMechS_09031;2010-06-07T23:20:50-05:00 Paper No. IJAMechS_09031;2010-06-07T23:20:50-05:00 |
| spellingShingle | TJ Mechanical engineering and machinery RM, Kuppan Chetty M, Singaperumal T., Nagarajan Behaviour based planning and control of leader follower formation in wheeled mobile robots |
| title | Behaviour based planning and control of leader follower formation in wheeled mobile robots
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| title_full | Behaviour based planning and control of leader follower formation in wheeled mobile robots
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| title_fullStr | Behaviour based planning and control of leader follower formation in wheeled mobile robots
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| title_full_unstemmed | Behaviour based planning and control of leader follower formation in wheeled mobile robots
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| title_short | Behaviour based planning and control of leader follower formation in wheeled mobile robots
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| title_sort | behaviour based planning and control of leader follower formation in wheeled mobile robots |
| topic | TJ Mechanical engineering and machinery |
| url | http://scholars.utp.edu.my/id/eprint/1453/ http://scholars.utp.edu.my/id/eprint/1453/ http://scholars.utp.edu.my/id/eprint/1453/ |