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Dynamic model based formation control and obstacle avoidance of multi-robot systems

Published online by Cambridge University Press:  01 May 2008

Celso De La Cruz  and
Ricardo Carelli
Celso De La Cruz*
Affiliation:
Instituto de Automática, Universidad Nacional de San Juan, Av. San Martín Oeste 1109, J5400ARL, Argentina.
Ricardo Carelli
Affiliation:
Instituto de Automática, Universidad Nacional de San Juan, Av. San Martín Oeste 1109, J5400ARL, Argentina.
*
*Corresponding author. E-mail: celsodelacruz@gmail.com
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Summary

This work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi-robot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a formation control. The controller can be applied both to positioning and to tracking desired robot formations. The formation control can be centralized or decentralized and scalable to any number of robots. A strategy for rigid formation obstacle avoidance is also proposed. Experimental results validate the control system design.

Keywords

Formation controlDynamic modelNon-holonomic mobile robotsNonlinear systems
Type
Article
Information
Robotica , Volume 26 , Issue 3 , May 2008 , pp. 345 - 356
Copyright
Copyright © Cambridge University Press 2008

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