Fault-Tolerant Formation Control of WMRs Team Based on Hybrid GA-PSO

Abstract

AbstractThis paper presents a fault-tolerant formation control (FTFC) technique for a team of wheeled mobile robots (WMRs) driven differentially in case of severe actuator faults occurrence. As one or more robots are unable to complete the desired mission due to severe actuator faults, the formation is reconfigured for the remaining healthy WMRs to mitigate the fault effects on the mission execution. The new reconfiguration is determined by means of optimal assignment technique, such that each healthy robot can be assigned to a unique position in the new formation. Next, each robot starts planning its trajectory to reach its new position in the new formation configuration using the integration of control parameterization and time discretization (CPTD), genetic algorithm and particle swarm optimization (GA–PSO). The objective is to minimize the reconfiguration time considering the physical constraints of WMRs and collision avoidance. Finally, numerical simulations are conducted to validate the effectiveness of the proposed algorithm.KeywordsFault-tolerant formation controlOptimal formation reconfigurationGenetic algorithmParticle swarm optimizationControl parametarization and time discretizationWheeled mobile robots