Title :
Orientation coordination of multiple robots based on a nonlinear consensus algorithm
Author :
Guansheng Xing ; Hexu Sun ; Haiyong Chen ; Ning Liu
Author_Institution :
Sch. of Control Sci. & Eng., Hebei Univ. of Technol., Tianjin, China
Abstract :
In this paper we design a control strategy for orientation coordination of multiple mobile robots system based on a nonlinear consensus algorithm. By using the nonlinear terms defined to indicate the orientation difference among neighbors, each robot control its own motion direction, and then all robots´ orientations converge to the average of their initial values. A scheme of communication topology design is proposed. It is proved that the coordinated control algorithm distributed on that kind of topology can make multiple single integrators with input limits reach average consensus. Finally, the comparison of the numerical simulation results under conditions of two different topologies shows the effectiveness of the control algorithm.
Keywords :
control system synthesis; directed graphs; mobile robots; motion control; multi-robot systems; nonlinear control systems; numerical analysis; communication topology design; control strategy design; coordinated control algorithm; motion direction control; multiple mobile robot system; nonlinear consensus algorithm; numerical simulation; orientation coordination; orientation difference; weighted digraph; Algorithm design and analysis; Educational institutions; Integrated circuits; Mobile robots; Robot kinematics; Topology; coordinated control; multiple mobile robots system; nonlinear consensus algorithm; weighted digraph;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6359104