A Dynamics Controller Design Method for Car-like Mobile Robot Formation Control

Baofang Wang,Qingwei Chen,Chen Qian,X Lei,S.P Kozaitis,C.-C Ku

doi:10.1051/matecconf/201816006003

Baofang Wang, Qingwei Chen + Show 4 more

Open Access

https://doi.org/10.1051/matecconf/201816006003

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Abstract

A dynamics controller design method based on characteristic model is proposed for the formation control problem of car-like mobile robots. Only kinematics controller is not enough for some cases such as the environment is rugged, and the dynamics parameters of the robot are time-varying. Simulation results show that the proposed method can improve the responding speed of the mobile robots and maintain high formation accuracy. First, we obtain the kinematic error state equations according to the leader-follower method. A kinematics controller is designed and the stability is proved by Lyapunov theory. Then the characteristic model of the dynamics inner loop is established. A sliding mode controller is designed based on the second order discrete model, and the stability of the closed-loop system is analyzed. Finally, simulations are designed in MATLAB and Microsoft Robotics Developer Studio 4 (MRDS) to verify the effectiveness of the proposed method.

Highlights

Formation control problem of multi robots has become an interesting and challenging subject for researchers
A dynamics controller design method based on characteristic model is proposed for the formation control problem of car-like mobile robots
We obtain the kinematic error state equations according to the leader-follower method

Summary

Introduction

Formation control problem of multi robots has become an interesting and challenging subject for researchers. In trajectory tracking and formation control problems for car-like mobile robots, numerous researchers have focused on the design of kinematics controllers. This is reasonable for many cases because of two factors: Firstly, most car-like robots have their own motor drive and control modules which contain the dynamics inner control loop capable of tracing the velocity command signal; Secondly, traditional robot workspaces are flat ground, and the mass and velocity of the robot are always low. We propose a dynamics controller design method for car-like robots considering the time-varying dynamics parameters and the rough terrain workspace. The proposed method is tested using MRDS and MATLAB to verify the effectiveness of the proposed controller

Kinematics model and controller

Dynamics model and controller

Simulation results

Findings

Conclusions