Title :
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
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;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6896435
