Formation control of a swarm of mobile manipulators

Sharma, Bibhya N. and Vanualailai, Jito and Prasad, Avinesh (2011) Formation control of a swarm of mobile manipulators. The Rocky Mountain Journal of Mathematics, 41 (3). pp. 909-940. ISSN 0035-7596

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Abstract

This paper presents a new Lyapunov-based decentralized formation control planner for a swarm of 2-link mobile manipulators in an a priori known environment. To ensure a significant degree of formation stiffness along the flight-path, information on moving ghost targets, inter-robot bounds for aggregation and heading for the mobile manipulators are captured in the control planner. The final desired orientation of the formation is by observing a minimum distance between every member of the swarm and ghost walls. The nonlinear control laws extracted from the Lyapunov-based control scheme are utilized to obtain collision-free trajectories of the swarm in a low-degree formation, whilst ensuring stability of the kinodynamic system governing the swarm. The effectiveness of the controllers is demonstrated by simulating interesting situations.

Item Type:	Journal Article
Subjects:	Q Science > QA Mathematics
Divisions:	Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User:	Ms Shalni Sanjana
Date Deposited:	25 Jun 2011 04:09
Last Modified:	25 Jun 2012 04:09
URI:	http://repository.usp.ac.fj/id/eprint/4817

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