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Go to Editorial ManagerFormation control is a critical task in the coordination of multi-mobile robot systems operating in structured environments with limited local knowledge and low-cost hardware. Achieving reliable formations requires effective localization, path planning, and obstacle avoidance capabilities. This study presents a static strategy for forming polygon-shaped configurations using multiple mobile robots. The proposed strategy improves formation efficiency by employing a cluster matching algorithm instead of the conventional triangulation approach to complete the formation process. In addition, the visibility binary tree algorithm and the reciprocal orientation algorithm are integrated to enhance robot coordination and spatial awareness. Simulation results demonstrate that the proposed strategy achieves superior performance in multi-robot formation tasks, offering improved efficiency and robustness compared with traditional triangulation-based methods.
In this paper, a new algorithm for mobile robot navigation and polygonal obstacles avoidance in dynamic target environment is introduced. In the dynamic target path planning the agent (robot) trying to reach a moving target in minimum path cost. The introduced algorithm which called Prediction-based path planning with obstacle avoidance in dynamic target environ- ment planning a path to a moving target by predicting the next target location, then computing a path from the robot current lo- cation to the predicted target location representing each visible obstacle by the smallest circle that enclosing the polygon obstacle, then determine the visible tangents between the robot and the cir- cular obstacle that intersect its shortest path and compute the shortest path. Three target movement scenarios were suggested and tested in different environment conditions. The results show that the target was reached in all scenarios and under all environ- ment conditions with good path cost.
This paper deals with a new algorithm called circular paths for leader follower tracking with obstacle avoidance using. In leader follower tracking, one robot acts as a leader with defined motion and the other robot acts as a follower which position itself in accordance with the position and orientation of the leader. The leader movement is dependent on an assigned trajectory and the follower movement is dependent on the circular paths algorithm. In each step, this algorithm constructs a circular path using three points represented by the next step position of the leader robot, the last step position and the current step position of the follower robot. The next position of the follower robot lays on the circumstance of the circular path and the orientation is represented by the tangent line to this circular path at this next position of the follower robot. When an obstacle intersect any circular path for the follower robot, then this path must be replaced by another circular path construct from the two positions of the follower robot and the leader position is replaced by the tangent point to the obstacle. Simulation results illustrate the soundness of this algorithm.
In this paper, a new approach for the positioning (localization) of multi-node systems is presented. Each node including the beacon node contains two types of sensors: one for the distance sensing and the other type is for communication. The main idea of our proposed approach is to use the control of beacon to construct a nodes' tree which is going to be used later by the nodes to know the paths in which the information will flow. During the tree construction the identities of nodes will be known. Every node except the beacon will use the information obtained from its previous neighbor in the tree to find its own location and orientation. Several simulations using visual basic 2012 are implemented to discern the performance of this algorithm.