USP Electronic Research Repository

Formation types of a flock of 1-trailer mobile robots

Raghuwaiya, Krishna and Singh, Shonal and Sharma, Bibhya N. and Lingam, Govinda I. (2011) Formation types of a flock of 1-trailer mobile robots. [Conference Proceedings]

[img] PDF - Published Version
Download (2MB)


In this paper, we control the motion of a flock of 1-trailer systems. A set of artificial potential field functions is proposed for split/rejoin of the flock of 1-trailer robots via the Lyapunov-based control scheme for the avoidance of obstacles and attraction to their designated targets. A leader follower strategy is used to accomplish the desired formation and reformation of the flock. The flock maintains a prescribed formation, splits and maneuvers around obstacles and then returns to its original position in the prescribed formation. The various formations shapes that we shall consider are the line, column, arrowhead and the double platoon. The effectiveness of the proposed control laws are demonstrated through computer simulations.

Item Type: Conference Proceedings
Subjects: Q Science > QA Mathematics
Divisions: Faculty of Arts, Law and Education (FALE) > School of Education
Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Ms Shalni Sanjana
Date Deposited: 25 Jun 2011 07:57
Last Modified: 25 Jun 2012 07:57

Actions (login required)

View Item View Item

Document Downloads

More statistics for this item...