Formation Control Design for Multi-Robot System with Obstacle Avoidance

被引：0
|
作者：
Huang Jie [1 ,2 ,3 ]
Dou Lihua [1 ,2 ]
Fang Hao [1 ,2 ]
Wei Yue [1 ,2 ]
机构：
[1] Beijing Inst Technol, Beijing 100081, Peoples R China
[2] Key Lab Intelligent Control & Decis Complex Syst, Beijing 100081, Peoples R China
[3] Fujian Inst Educ, Fuzhou 350025, Peoples R China
来源：
2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年
关键词：
Multi-robot system; formation control; finite time; Euler-Lagrange; obstacle avoidance; DECENTRALIZED 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 focuses on the cooperative formation control of ground multi-robot system with obstacles surroundings. Each robot is modeled by Euler-Lagrange dynamics with unknown disturbance in 2D space. An auxiliary error variable based adaptive cooperative controller is designed for each robot such that all robots ultimately achieve desired formation in finite time, while maintaining obstacle avoidance. The stabilities of finite time control and the formation performance are analyzed by the according Lyapunov functions. Finally, simulation examples demonstrate the effectiveness of the algorithm.
引用
收藏
页码：8547 / 8552
页数：6
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