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

2020-12-31

Country of Publication

Iraq

No. of Pages

6

Main Topic

Electronic engineering

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