title: A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model.
abstract: This paper describes a switching formation strategy for multi-robots with velocity constraints to avoid and cross obstacles. In the strategy, a leader robot plans a safe path using the geometric obstacle avoidance control method (GOACM). By calculating new desired distances and bearing angles with the leader robot, the follower robots switch into a safe formation. With considering collision avoidance, a novel robot priority model, based on the desired distance and bearing angle between the leader and follower robots, is designed during the obstacle avoidance process. The adaptive tracking control algorithm guarantees that the trajectory and velocity tracking errors converge to zero. To demonstrate the validity of the proposed methods, simulation and experiment results present that multi-robots effectively form and switch formation avoiding obstacles without collisions.
authors.affiliation: Department of Electrical Engineering, Yeungnam University, Gyeongsan, Gyeongsangbuk, South Korea.
authors.forename: Yanyan
authors.initials: Y
authors.lastname: Dai
authors.affiliation: Wellness Convergence Research Center, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea.
authors.forename: YoonGu
authors.initials: Y
authors.lastname: Kim
authors.affiliation: Wellness Convergence Research Center, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea.
authors.forename: SungGil
authors.initials: S
authors.lastname: Wee
authors.affiliation: Wellness Convergence Research Center, Daegu Gyeongbuk Institute of Science and Technology, Daegu, South Korea.
authors.forename: DongHa
authors.initials: D
authors.lastname: Lee
authors.affiliation: Department of Electrical Engineering, Yeungnam University, Gyeongsan, Gyeongsangbuk, South Korea. Electronic address: sglee@ynu.ac.kr.
authors.forename: SukGyu
authors.initials: S
authors.lastname: Lee
keywords: Collision avoidance; GOACM; Leader–follower formation control; Robot priority model; Switching formation strategy