Abstract
Aiming at the formation and maintenance of the multiple formations of nonholonomic constrained multi-robots, a leader-follower formation control method under the grouping consistency is proposed on the trajectory tracking of a nonholonomic constrained mobile robots with the low convergence time. The distributed control structure in the leader-follower formation is adopted. The multi-robot cooperative formation is realized by using the consistency algorithm of graph theory. According to the graph theory, the communication topology matrixes are designed by the consistency algorithm. The mathematical model of nonholonomic constrained robot is established with the wheeled structure as the mobile structure under the nonholonomic constraints. Then the navigation following model is transformed into the error model of a local coordinate system through the global coordinate transformation. The formation control law of multi-robot cooperative motion is put forward based on the leader-follower model. Its convergence is proved by the Lyapunov function. By setting the reasonable communication protocol parameters, the MATLAB software (Natick, MA, USA, R2016b) is employed on the simulation verification and result comparison. Through the comparison of the two leader formation control methods, the convergence time of the algorithm in this article can be 25% less than that of PFC. The effectiveness and feasibility of the formation control law are verified under the leader-follower method. The proposed control method lays a foundation for reducing the convergence time to improve the multi-robot cooperative motion under nonholonomic constraints.
Highlights
In order to realize the common interests of some and even all individuals, the cluster activity is to unify the scattered individuals and social forces
The formation control law of multi-robot cooperative motion based on the leader-follow model is constructed
In order to make the tracking error converge to zero, the multi-robot formation control law based on the leader-follower method can be designed as Equation (28)
Summary
In order to realize the common interests of some and even all individuals, the cluster activity is to unify the scattered individuals and social forces. Some specific tasks include multi-robot map exploration, large objectassembly-line transportation, target capture andand so on.warehousing They require the mation patrol, environmental exploration, production robots in the team to form a specific formation structure. Of theAsimportant research topics in the multi-rob method at present, its basic idea is that all formation members are designated as the establishing effective communication control strategies among robots, t leader or follower. The advantage of the leader-follower method is that the formation co multi-robot cooperative control was studied [16,17]. This article combines the nonholonomic constrained mobile robot, graph theory, leader-follow formation control and trajectory tracking. The formation control law of multi-robot cooperative motion based on the leader-follow model is constructed.
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