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Backward motion planning and control of multiple mobile robots moving in tightly coupled formations

Ramanathan Kuppan Chetty, Mohan Manju, Dhanraj Joshuva Arockia

Applied Computer Science

2021

Vol. 17, no 3

60--72

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.

Computer Aided Design of Mechatronic Systems

Mrozek Z.

International Journal of Applied Mathematics and Computer Science

2003

Vol. 13, no 2

255-267

Any successful company must react quickly to changing trends in the market. New products should be designed and manufactured quicker and cheaper than counter partners do. A shorter design time provides a distinct competitive advantage. The paper describes two approaches towards designing interdisciplinary mechatronic systems: the first is visual modelling with the UML, the second is physical modelling with Modelica.