| Autor: |
Sejuti Rahman, Md. Tahmeed Abdullah, Sujan Sarker, Md. Jubair Ahmed Sourov |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
2020 Joint 9th International Conference on Informatics, Electronics & Vision (ICIEV) and 2020 4th International Conference on Imaging, Vision & Pattern Recognition (icIVPR). |
| DOI: |
10.1109/icievicivpr48672.2020.9306556 |
| Popis: |
The topic of initializing and controlling the formation of robots in a multi-agent system has become a core swarm robotics research problem as formation control is very useful for cooperative tasks. In this paper we propose a hybrid method for formation control of non-holonomic mobile robots fusing controller behaviours with virtual structure. The proposed method is ideal for applications like search and rescue operations. The method is tested and evaluated in some simulation experiments and it proved to perform better for random shapes as well as polygonal shapes and convex hulls than behaviour based approaches and it was observed that converging time is independent of the shape complexity. The method also provides an easy method to design new pattern shapes. The results show that the proposed method improves in accuracy, formation controlling mechanism, applicability and variation of shapes. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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