Multi-Robot Formation Control And Implementation

被引:0
作者
Chen, Hao
Qi, Jie [1 ]
Dong, Yuqin
Zhong, Sanguan
机构
[1] Donghua Univ, Coll Informat Sci & Technol, Shanghai 201620, Peoples R China
来源
2021 PROCEEDINGS OF THE 40TH CHINESE CONTROL CONFERENCE (CCC) | 2021年
基金
中国国家自然科学基金;
关键词
Multi-robot system; Boundary control; Backstepping; Model Predictive Control; MULTIAGENT SYSTEM; TRACKING CONTROL;
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper develops a distributed method for formation control of ground mobile robots via partial differential equations (PDEs)-based approach. The collective dynamics of a group of mobile robots is modeled by a reaction-advection-diffusion PDE. Based the model, we design a boundary control by using of the PDE backstepping method, which results in the leader-actuating formation control scheme with the leader robots locate on the boundary. In the control scheme, each follower robot only needs to obtain its own position and the relative position to its neighbors, which reduce the cost of the followers. We verify the effectiveness of the control scheme through the mobile robots experiment. In the experiment, we use LinkTrack UWB module to realize the positioning function adding the Kalman filter algorithm to improve the positioning accuracy and we use MPC to realize the movement control of the car's forward speed, lateral speed and angle.
引用
收藏
页码:879 / 884
页数:6
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