PROJECT TITLE :

CPS Oriented Control Design for Networked Surveillance Robots With Multiple Physical Constraints

ABSTRACT:

Networked robotics are a typical cyber–physical system (CPS). This paper presents the cyber physical interaction model to perform formation management and tracking within the presence of alternative robots and static obstacles. It discusses how such a model will be effectively used to house kinodynamic and operation vary constraints. The cyber system is also accountable for feasible trajectory generation based upon regional path segments and to ensure that all the robots maneuver through obstacles in an exceedingly safe manner. The introduction of virtual robot restructures the formation management drawback into a tracking control problem between virtual reference robot and follower robots. A completely unique obstacle avoidance approach is proposed based upon the scaling of whole (partial) formation like centralized (distributed) framework. The concerned CPS has network structure preserving properties that are key to effective distributed call making. The novel formation control, obstacle avoidance, and trajectory tracking approaches facilitate networked robots to be effectively controlled through the cyber system. We have a tendency to conjointly discuss economical and optimal implementation of the proposed trajectory generator using computer-aided design for CPSs. Analysis of the proposed approach is providing demonstrate the formation control, trajectory tracking, and obstacle avoidance for multirobots using the proposed scheme.


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