Formation control design for multi-robot system with obstacle avoidance

Author

Huang Jie ; Dou Lihua ; Fang Hao ; Wei Yue

Author_Institution

Beijing Inst. of Technol., Beijing, China

fYear

2014

fDate

28-30 July 2014

Firstpage

8547

Lastpage

8552

Abstract

This paper focuses on the cooperative formation control of ground multi-robot system with obstacles surroundings. Each robot is modeled by Euler-Lagrange dynamics with unknown disturbance in 2D space. An auxiliary error variable based adaptive cooperative controller is designed for each robot such that all robots ultimately achieve desired formation in finite time, while maintaining obstacle avoidance. The stabilities of finite time control and the formation performance are analyzed by the according Lyapunov functions. Finally, simulation examples demonstrate the effectiveness of the algorithm.

Keywords

Lyapunov methods; adaptive control; collision avoidance; control system synthesis; mobile robots; multi-robot systems; stability; Euler-Lagrange dynamics; Lyapunov functions; adaptive cooperative controller design; auxiliary error variable; cooperative formation control; finite time control stability; formation control design; formation performance; ground multirobot system; obstacle avoidance; Collision avoidance; Convergence; Multi-robot systems; Robot kinematics; Trajectory; Euler-Lagrange; Multi-robot system; finite time; formation control; obstacle avoidance;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896435

Filename

6896435