A Hybrid System Simulation for Formation Control of Wheeled Mobile Robots : An Application of Artificial Potential Field and Kinematic Controller (original) (raw)
Related papers
Formation control of mobile robots
World Academy of Science, Engineering and Technology, International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering, 2011
In this paper, we study the formation control problem for car-like mobile robots. A team of nonholonomic mobile robots navigate in a terrain with obstacles, while maintaining a desired formation, using a leader-following strategy. A set of artificial potential field functions is proposed using the direct Lyapunov method for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed control laws to verify the feasibility of the model is demonstrated through computer simulations.
An algorithm for formation control of mobile robots
Serbian Journal of Electrical Engineering, 2013
Solution of the formation guidance in structured static environments is presented in this paper. It is assumed that high level planner is available, which generates collision free trajectory for the leader robot. Leader robot is forced to track generated trajectory, while followers' trajectories are generated based on the trajectory realized by the real leader. Real environments contain large number of static obstacles, which can be arbitrarily positioned. Hence, formation switching becomes necessary in cases when followers can collide with obstacles. In order to ensure trajectory tracking, as well as object avoidance, control structure with several controllers of different roles (trajectory tracking, obstacle avoiding, vehicle avoiding and combined controller) has been adopted. Kinematic model of differentially driven two-wheeled mobile robot is assumed. Simulation results show the efficiency of the proposed approach.
Formation Control For Wheeled Mobile Robots
International Journal of Scientific & Technology Research, 2014
this paper describes work on formation for a group of wheeled mobile robots. Also in this paper we have tried to give the detail information about the kinematics of wheeled mobile robot available in various literatures in a simpler way. We are using car-like mobile robot where the leader mobile robot is controlled to reach the desired position, whereas the follower follows the leader robot with some specific distance and angle. Here we made an assumption that the motion occurs in a 2D space without any obstacle in its path. The basic of kinematic bicycle model for a wheeled mobile robot is used in this work. For controlling the motion of robots we are using fuzzy logic. As we know, Fuzzy logic theory is subdivided into two types, type-1 and type-2. For the motion control of a car-like mobile robot in formation we are using the concept of Interval type2 fuzzy logic (IT2-FL). A new rule base is designed for IT2-FL system and the simulation is done in Matlab environment also the final ...
Implementation of Leader-Follower Formation Control of a Team of Nonholonomic Mobile Robots
International Journal of Computers Communications & Control
A control method for a team of multiple mobile robots performing leader-follower formation by implementing computing, communication, and control technol-ogy is considered. The strategy expands the role of global coordinator system andcontrollers of multiple robots system. The global coordinator system creates no-collision trajectories of the virtual leader which is the virtual leader for all vehicles,sub-virtual leaders which are the virtual leader for pertinent followers, and virtualfollowers. The global coordinator system also implements role assignment algorithmto allocate the role of mobile robots in the formation. The controllers of the individualmobile robots have a task to track the assigned trajectories and also to avoid collisionamong the mobile robots using the artificial potential field algorithm. The proposedmethod is tested by experiments of three mobile robots performing leader-followerformation with the shape of a triangle. The experimental results show the robustness...
Stable formation control for a team of wheeled mobile robots
2007
This paper presents a novel control algorithm and visual measurement for the autonomous navigation of a non-holonomic robot team while preserving a specified formation. The control errors are defined relative to the leader robot of the team in terms of the actual position of each robot and its desired position in the formation. The stability analysis as well as a robustness analysis for the proposed control system is presented. This paper also includes some experimental results to show the good performance of the proposed control system.
Investigation of Formation Control Approaches Considering the Ability of a Mobile Robot
International Journal of Robotics and Automation (IJRA) , 2018
This work investigates and compares various formation control approaches for mobile robots. A comprehensive literature review was conducted, with particular focus on the approaches' applicability to be implemented on real mobile robots with limited hard and software capabilities. A realistic model of mobile robots is introduced and its parameters are identifed with measurements from actual mobile robots. Later on, the model is extended and used within simulation studies of the various investigated approaches. A collision avoidance controller based on a formation controller is proposed and simulations are carried out. Experiments on real mobile robots are conducted for two formation controllers and for the proposed collision avoidance controller. It is shown that if the requirements resulting from the simulation studies are satisfied, an implementation on the real robots is possible
Formation Control and Obstacle Avoidance of Cooperative Wheeled Mobile Robots
This paper presents a formation control method for group of robots to handle the object, avoid collision with obstacles and achieve the target. For this aim dynamic model of the constrained nonholonomic system has been derived using Lagrange formulation for constrained systems. Methods from potential field theory are incorporated to provide resolution among possibly conflicting performance goals and this method is considered as a powerful technique for solving obstacle avoidance problem of the mobile robots. Formation feedbacks with Multiple Impedance Control law are used to control the positions of the robots and compensate the reaction of the load effects. Obtained results illustrate correctness of the modeling and effectiveness of the method.
Formation control of nonholonomic mobile robots
2006 American Control Conference, 2006
In this paper, formation control of a group of nonholonomic wheeled robots are considered. By introducing a unified error of the formation and trajectory tracking, state feedback control laws are proposed for formation control with a desired trajectory. Graph theory and Lyapunov theory are used in the control design. After that, by introducing observers, output feedback control laws are also proposed for the formation control. Simulation study shows the proposed controllers are effective.
International Journal of Systems, Control and Communications
This paper presents a novel robust and autonomous formation control scheme for wheeled mobile robots in the leader-follower formation control framework considering their non-holonomic constraints. In the proposed formation control scheme, the leader robot of the group plans its path of navigation autonomously in a cluttered environment by employing incremental path planning by modified artificial potential field. Then, the follower robots in the group plan their path in order to follow the leader robot by maintaining a particular formation using the separation-bearing (l-ψ) control. Then the formation control problem has been transformed into a trajectory tracking control problem. The kinematic control component of the tracking controller provides the necessary velocity input for eliminating the non-holonomic constraints, whereas, the sliding mode augmented robust trajectory tracking control component minimises the effects of nonlinearities, model uncertainties, parameter variations, and disturbances. The effectiveness of the proposed control law has been established by simulation studies.
Differentially-Driven Robots Moving in Formation—Leader–Follower Approach
Applied Sciences
The paper is devoted to the leader–follower approach for multiple mobile robots control and its experimental verification. The formation control of mobile robots is motivated by the concept of virtual leader tracking, which is enhanced by the collision avoidance between the robots proposed in our previous work. The effectiveness of this approach was verified through realisation of experiments with use of MTracker mobile robots. The OptiTrack vision system was used for robots localization. Software part with control algorithms and communication was prepared with use of the Robot Operating System.