Abstract
In recent years, the formation control of multi-mobile robots has been widely investigated by researchers. With increasing numbers of robots in the formation, distributed formation control has become the development trend of multi-mobile robot formation control, and the consensus problem is the most basic problem in the distributed multi-mobile robot control algorithm. Therefore, it is very important to analyze the consensus of multi-mobile robot systems. There are already mature and sophisticated strategies solving the consensus problem in ideal environments. However, in practical applications, uncertain factors like communication noise, communication delay and measurement errors will still lead to many problems in multi-robot formation control. In this paper, the consensus problem of second-order multi-robot systems with multiple time delays and noises is analyzed. The characteristic equation of the system is transformed into a quadratic polynomial of pure imaginary eigenvalues using the frequency domain analysis method, and then the critical stability state of the maximum time delay under noisy conditions is obtained. When all robot delays are less than the maximum time delay, the system can be stabilized and achieve consensus. Compared with the traditional Lyapunov method, this algorithm has lower conservativeness, and it is easier to extend the results to higher-order multi-robot systems. Finally, the results are verified by numerical simulation using MATLAB/Simulink. At the same time, a multi-mobile robot platform is built, and the proposed algorithm is applied to an actual multi-robot system. The experimental results show that the proposed algorithm is finally able to achieve the consensus of the second-order multi-robot system under delay and noise interference.
Highlights
In recent years, with the continuous development of computer science, complex network theory and control theory, autonomous mobile robots have received more and more attention [1]
Two sets of Matlab/Simulink numerical simulation experiments are carried out to verify the consensus of the system described in Theorems 1 and 2 when the communication topology verify the consensus of the system described in Theorems 1 and 2 when the communication topology is undirected graph and directed graph under the conditions of noise and various delays
To verify the proposed formation control algorithm, we did the experiment based on a pre-constructed multi-mobile robot research platform built by our laboratory, which was pre-constructed multi-mobile robot research platform built by our laboratory, which was constructed constructed with a self-designed three-wheeled omnidirectional robot carrying an UWB (Ultra-Wide with aBand) self-designed three-wheeled omnidirectional an UWB
Summary
With the continuous development of computer science, complex network theory and control theory, autonomous mobile robots have received more and more attention [1]. Studied the consensus of second-order multi-robot systems under uniform time delay and noise environments, and designed different control protocols for different types of noise, achieving the consensus of the system. These algorithms provide some basic solutions to the second-order system consensus problem, but the problems encountered by multi-robots in practical applications are far more varied than these. On the basis of these algorithms, this paper performs a more in-depth analysis, especially considering the consensus of the second-order system in which there are many different time delays and multiplicative noises in the system, laying the foundations for a formation control algorithm for second-order multi-robot systems that can be truly implemented in real robot systems. Experiments were carried out on a multi-omnidirectional mobile robot platform built in the laboratory using the proposed algorithm [17,18], which verifies the effectiveness of the proposed algorithm
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