Hybrid dynamic formation control for nonholonomic mobile robots

Author

Zhang Ruilei ; Yang Chun ; Li Sheng ; Chen Qingwei

Author_Institution

Sch. of Autom., Nanjing Univ. of Sci. & Technol., Nanjing, China

fYear

2014

fDate

28-30 July 2014

Firstpage

8396

Lastpage

8401

Abstract

According to the characteristics of the ground mobile robots, a formation control method for multi-robot system is proposed. We have studied hybrid formation control problem with the two different kinds of nonholonomic mobile robots in the 3d terrain environment. First, using the leader-follower method, the follower robot´s trajectory tracking model is established in the three-dimensional terrain environment. Then via the Lyapunov function, the controller of the trajectory tracking system is constructed. And through estimating the leader robot´s linear velocity and angular velocity, the hybrid formation control method for the different kinds of ground mobile robots is realized. Finally, three groups of simulations in the 3d environment are provided, verifying the effectiveness of the proposed method.

Keywords

Lyapunov methods; mobile robots; multi-robot systems; robot dynamics; trajectory control; 3D terrain environment; Lyapunov function; angular velocity; formation control method; ground mobile robots; hybrid dynamic formation control; hybrid formation control method; leader follower method; multirobot system; nonholonomic mobile robots; robot linear velocity; robot trajectory tracking model; trajectory tracking system; Educational institutions; Electronic mail; Mobile robots; Multi-robot systems; Three-dimensional displays; Trajectory; 3D Terrain; Hybrid Formation; Multi-robot System; Nonholonomic Mobile Robots; Velocity Estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896409

Filename

6896409