Coupled-Error-Based Formation Control for Rapid Formation Completion by Omni-Directional Robots

Abstract

This paper proposes a coupled-error-based formation control algorithm for the rapid formation completion of multi-robot systems. We consider a multi-robot system with omni-directional robots with swerve-driving mechanisms and a communication system with minimized constraints. This paper introduces a coupled error that links the distance errors with the leading robot and the following robot through a coupling ratio. We propose a controller using the coupled error to achieve the control objectives of this paper. Unlike existing results that only use the information of the preceding robot, this algorithm couples the information of both the preceding robot and one’s follower. Using the proposed error-coupling-based formation control algorithm, multi-robot systems can quickly establish formations for collaboration, allowing tasks to commence swiftly and reducing deformations in formations due to speed variations. With stability analysis and simulation results for the practical application of the proposed algorithm, the approach has been verified to improve the speed of both the completion of the formation and overall system trajectory tracking, balancing trade-offs between them.