DISTRIBUTED FORMATION CONTROL AND OBSTACLE AVOIDANCE OF MULTI-ROBOT SYSTEM

2020 ◽  
Vol 40 (04) ◽  
Author(s):  
HÀ TRỌNG NGHĨA ◽  
TRẦN THANH KẾT ◽  
NGUYỄN TẤN LUỸ
Keyword(s):  
Mobile Robots ◽  
Limit Cycle ◽  
Distributed Control ◽  
Trajectory Tracking ◽  
Formation Control ◽  
Control Algorithm ◽  
Control Method ◽  
Reference Trajectory ◽  
Robot System ◽  
Distributed Control Algorithm

This paper proposes a distributed control method for multi-mobile robots to avoid obstacles. Firstly, the Limit Cycle (LC) method is exploited to set the reference trajectory for robots to avoid obstacles. Secondly, the control rule that control a leading robot following the reference path is introduced. Thirdly, the algorithm that controls robots moving in a formation and avoiding obstacles based on the combination of the LC method and the reference trajectory tracking algorithm. Different from the distributed control algorithm in related documents, the algorithm in this paper ensures that the robot formation is not only maintained but also avoids obstacles when moving to the target. Finally, simulation and experimental results are conducted to verify the effectiveness of the proposed method.

scholarly journals Distributed formation control of networked mobile robots in environments with obstacles

Robotica ◽  
2014 ◽  
Vol 34 (6) ◽  
pp. 1403-1415 ◽  
Author(s):  
Whye Leon Seng ◽  
Jan Carlo Barca ◽  
Y. Ahmet Şekercioğlu
Keyword(s):  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Empirical Analysis ◽  
Distributed Control ◽  
Formation Control ◽  
Control Mechanism ◽  
Robot System ◽  
Nonholonomic Robots ◽  
Two Stages ◽  
Robot Communication

SUMMARYA distributed control mechanism for ground moving nonholonomic robots is proposed. It enables a group of mobile robots to autonomously manage formation shapes while navigating through environments with obstacles. The mechanism consists of two stages, with the first being formation control that allows basic formation shapes to be maintained without the need of any inter-robot communication. It is followed by obstacle avoidance, which is designed with maintaining the formation in mind. Every robot is capable of performing basic obstacle avoidance by itself. However, to ensure that the formation shape is maintained, formation scaling is implemented. If the formation fails to hold its shape when navigating through environments with obstacles, formation morphing has been incorporated to preserve the interconnectivity of the robots, thus reducing the possibility of losing robots from the formation.The algorithm has been implemented on a nonholonomic multi-robot system for empirical analysis. Experimental results demonstrate formations completing an obstacle course within 12 s with zero collisions. Furthermore, the system is capable of withstanding up to 25% sensor noise.

scholarly journals Practical Formation Control for Multiple Anonymous Robots System with Unknown Nonlinear Disturbances

2021 ◽  
Vol 11 (19) ◽  
pp. 9170
Author(s):  
Peng Xu ◽  
Jin Tao ◽  
Minyi Xu ◽  
Guangming Xie
Keyword(s):  
Theoretical Analysis ◽  
Mobile Robots ◽  
Distributed Control ◽  
Formation Control ◽  
Control Method ◽  
Control Law ◽  
Control Problems ◽  
Moving Target ◽  
Whole Process ◽  
Nonlinear Disturbances

This paper mainly investigates formation control problems for a group of anonymous mobile robots with unknown nonlinear disturbances on a plane, in which all robots can asymptotically converge to any formation patterns without collision, and maintain any required relative distance with neighboring robots. To solve this problem, all robots are modeled as kinematic points and can only acquire information from other robots and their targets. Furthermore, a flexible distributed control law is designed to solve the formation problem while no collisions between any robots can be guaranteed during the whole process. The outstanding feature of the proposed control method is that it can force all mobile robots to form not only uniform circle formations but also non-uniform and non-circular formations with moving target centers. At last, both theoretical analysis and numerical simulations show the feasibility of the proposed control law.

Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Robotica ◽  
2021 ◽  
pp. 1-12
Author(s):  
Jinwei Yu ◽  
Jinchen Ji ◽  
Zhonghua Miao ◽  
Jin Zhou
Keyword(s):  
Collision Avoidance ◽  
Distributed Control ◽  
Control Algorithm ◽  
Control Method ◽  
Negative Effects ◽  
Control Gain ◽  
Robot Systems ◽  
Distributed Control Algorithm ◽  
Velocity Matching ◽  
Multi Robot

SUMMARY This paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method.

Formation Control and Trajectory Tracking of Nonholonomic Mobile Robots

2018 ◽  
Vol 26 (6) ◽  
pp. 2250-2258 ◽  
Author(s):  
Akshit Saradagi ◽  
Vijay Muralidharan ◽  
Vishaal Krishnan ◽  
Sandeep Menta ◽  
Arun D. Mahindrakar
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Formation Control ◽  
Nonholonomic Mobile Robots

scholarly journals A distributed control algorithm for internal flow management in a multi-zone climate unit

2008 ◽  
Vol 81 (1) ◽  
pp. 89-106 ◽  
Author(s):  
C. De Persis ◽  
J. J. Jessen ◽  
R. Izadi-Zamanabadi ◽  
H. Schiøler
Keyword(s):  
Distributed Control ◽  
Control Algorithm ◽  
Internal Flow ◽  
Flow Management ◽  
Distributed Control Algorithm

scholarly journals Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Zhaoxia Peng ◽  
Shichun Yang ◽  
Guoguang Wen ◽  
Ahmed Rahmani
Keyword(s):  
Control Problem ◽  
Mobile Robots ◽  
Formation Control ◽  
Control Strategies ◽  
Reference Trajectory ◽  
Consensus Problem ◽  
Distributed Consensus ◽  
Nonholonomic Mobile Robots ◽  
Robust Adaptive ◽  
Virtual Leader

This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.

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