Formation Control of Non-Holonomic Wheeled Mobile Robot in Finite Time

被引：0

作者：

Qiao, Lei ^{[1
,2
]}

Li, Zonggang ^{[1
,2
]}

Du, Yajiang ^{[1
,2
]}

机构：

[1] School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou

[2] Robotics Institute, School of Mechanical Engineering, Lanzhou Jiaotong University, Lanzhou

来源：

Computer Engineering and Applications | 2023年 / 59卷 / 13期

关键词：

distance-based control; formation control; multi-robot system; non-holonomic wheeled mobile robot;

D O I：

10.3778/j.issn.1002-8331.2207-0396

中图分类号：

学科分类号：

摘要：

Keeping the formation shape intact is an important prerequisite for multi-robot formation to work normally in various environments. To solve the problem, this paper proposes a distance-based formation control strategy for multiple nonholonomic mobile robots in leader-follow framework in finite time, in which the target formation is assumed to be minimal and infinitesimally rigid. Since only part of the followers can directly obtain the leader's information, a distributed velocity estimator is designed for the followers to estimate the leader’s velocity. Meanwhile, the leader and the follower’s velocity can reach the consensus within a finite time. Besides of this, a formation control law is proposed to achieve the desired formation shape. In addition, it is proved that both distributed velocity estimator and formation controller can play a role in the local coordinate. Finally, the feasibility of the proposed algorithm is verified by simulation analysis. © 2023 Journal of Computer Engineering and Applications Beijing Co., Ltd.; Science Press. All rights reserved.

引用

页码：74 / 81

页数：7

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