Two Algorithms for static polygon shape formation control
Joint Authors
Rashid, Abd al-Muttalib T.
Isa, Bayadir A.
Source
The Iraqi Journal of Electrical and Electronic Engineering
Issue
Vol. 2020, Issue (s) (30 Jun. 2020), pp.53-58, 6 p.
Publisher
University of Basrah College of Engineering
Publication Date
2020-06-30
Country of Publication
Iraq
No. of Pages
6
Main Subjects
Topics
Abstract EN
This paper provides a two algorithms for designing robust formation control of multiple robots called Leader- Neighbor algorithm and Neighbor-Leader algorithm in unknown environment.
The main function of the robot group is to use the RP lidar sensor attached to each robot to form a static geometric polygon.
The algorithms consist of two phases implemented to investigate the formation of polygon shape.
In the leading- neighbor algorithm, the first stage is the leader alignment and the adjacent alignment is the second stage.
The first step uses the information gathered by the main RP Lidar sensor to determine and compute the direction of each adjacent robot.
The adjacent RP Lidar sensors are used to align the adjacent robots of the leader by transferring these adjacent robots to the leader.
By performing this stage, the neighboring robots will be far from the leader.
The second stage uses the information gathered by adjacent RP sensors to reposition the robots so that the distance between them is equal.
On the other hand, in the neighbor-leader algorithm, the adjacent robots are rearranged in a regular distribution by moving in a circular path around the leader, with equal angles between each of the two neighbor robots.
A new distribution will be generated in this paper by using one leader and four adjacent robots to approve the suggested leader neighbor algorithm and neighbor-leader algorithm.
American Psychological Association (APA)
Isa, Bayadir A.& Rashid, Abd al-Muttalib T.. 2020. Two Algorithms for static polygon shape formation control. The Iraqi Journal of Electrical and Electronic Engineering،Vol. 2020, no. (s), pp.53-58.
https://search.emarefa.net/detail/BIM-972166
Modern Language Association (MLA)
Isa, Bayadir A.& Rashid, Abd al-Muttalib T.. Two Algorithms for static polygon shape formation control. The Iraqi Journal of Electrical and Electronic Engineering Special issue (Jun. 2020), pp.53-58.
https://search.emarefa.net/detail/BIM-972166
American Medical Association (AMA)
Isa, Bayadir A.& Rashid, Abd al-Muttalib T.. Two Algorithms for static polygon shape formation control. The Iraqi Journal of Electrical and Electronic Engineering. 2020. Vol. 2020, no. (s), pp.53-58.
https://search.emarefa.net/detail/BIM-972166
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 57-58
Record ID
BIM-972166