Minimally rigid formations control for multiple nonholonomic mobile agents

Author

Wang, Qin ; Tian, Yu-Ping

Author_Institution

Sch. of Autom., Southeast Univ., Nanjing, China

fYear

2012

fDate

25-27 July 2012

Firstpage

6171

Lastpage

6176

Abstract

In this paper, a decentralized feedback control strategy that drives a system of multiple nonholonomic unicycles to a desired minimally rigid formation in terms of the relative position measurement is proposed. The proposed control law is based on the adaptive perturbation method, and it can guarantee that the initially connected communication graph which is minimally rigid remains minimally rigid for all time, and that the multiple nonholonomic system achieves the uniquely desired minimally rigid formation. Simulation results are provided to illustrate the effectiveness of the control algorithm.

Keywords

adaptive control; decentralised control; feedback; graph theory; mobile agents; mobile robots; perturbation techniques; position measurement; adaptive perturbation method; decentralized feedback control strategy; initially connected communication graph; minimally rigid formations control; multiple nonholonomic mobile agents; multiple nonholonomic system; position measurement; Collision avoidance; Equations; Nickel; Robots; Stability analysis; Trajectory; Vectors; adaptive perturbation method; minimally rigid formation; multiple nonholonomic unicycles;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2012 31st Chinese

Conference_Location

Hefei

ISSN

1934-1768

Print_ISBN

978-1-4673-2581-3

Type

conf

Filename

6391023