[1]LI Miao,LIU Zhongxin,CHEN Zengqiang.A distributed formation control method formultiple nonholonomic mobile robots[J].CAAI Transactions on Intelligent Systems,2017,12(1):88-94.[doi:10.11992/tis.201512021]
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A distributed formation control method formultiple nonholonomic mobile robots

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 12 Number of periods: 2017 1 Page number: 88-94 Column: 学术论文—智能系统 Public date: 2017-02-25
Title:
A distributed formation control method formultiple nonholonomic mobile robots
Author(s):
LI Miao1; 2;  LIU Zhongxin1; 2;  CHEN Zengqiang1; 2
1. College of Computer and Control Engineer, Jinnan Campus, Nankai University, Tianjin 300353, China;
2. Tianjin Key Laboratory of Intelligent Robotics, Tianjin 300353, China
Keywords:
nonholonomic mobile robots; formation control; consensus; distributed control
CLC:
TP18
DOI:
10.11992/tis.201512021
Abstract:
This paper addresses the algorithm of formation control for multiple nonholonomic mobile robots. The reference trajectory was represented by a virtual leader whose states were available to a subset of the following mobile robots and the robots only interacted with each other locally. Coordinate transformation was proposed to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem. Under the restriction of persistent excitation on reference trajectories, distributed control laws were proposed for achieving the formation control objectives. Using the Lyapunov function and graph theory, rigorous proofs show that the group of mobile robots can exponentially converge to a desired geometric formation pattern and its centroid can move along the reference trajectory. The validity of the proposed control method is verified by numerical simulation.
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