Formation Control and Tracking for Co-operative Robots with Non-holonomic Constraints

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• 作者：Muhammad Umer Khan ; Shuai Li ; Qixin Wang…
• 关键词：Non ; holonomic systems ; Consensus ; Formation control
• 刊名：Journal of Intelligent and Robotic Systems
• 出版年：2016
• 出版时间：April 2016
• 年：2016
• 卷：82
• 期：1
• 页码：163-174
• 全文大小：736 KB
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• 作者单位：Muhammad Umer Khan (1) (2)
  Shuai Li (1)
  Qixin Wang (1)
  Zili Shao (1)
  
  1. Embedded Systems and CPS Laboratory, Department of Computing, The Hong Kong Polytechnic University, Hung Hom, Hong Kong
  2. Department of Mechatronics Engineering, Air University, Islamabad, Pakistan
  
• 刊物类别：Engineering
• 刊物主题：Automation and Robotics
  Electronic and Computer Engineering
  Artificial Intelligence and Robotics
  Mechanical Engineering
  
• 出版者：Springer Netherlands
• ISSN：1573-0409

文摘

This paper mainly addresses formation control problem of non-holonomic systems in an optimized manner. Instead of using linearization to solve this problem approximately, we designed control laws with guaranteed global convergence by leveraging nonlinear transformations. Under this nonlinear transformation, consensus of non-holonomic robots can be converted into a stabilization problem, to which optimal treatment applies. This concept is then extended to the formation control and tracking problem for a team of robots following leader-follower strategy. A trajectory generator prescribes the feasible motion of virtual reference robot, a decentralized control law is used for each robot to track the reference while maintaining the formation. The asymptotic convergence of follower robots to the position and orientation of the reference robot is ensured using the Lyapunov function which is also generated using chained form differential equations. In order to witness the efficacy of the scheme, simulations results are presented for Unicycle and Car-like robots.