期刊
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
卷 70, 期 8, 页码 8269-8274出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2021.3093157
关键词
Robot kinematics; Mobile robots; Vehicle dynamics; Hardware; Task analysis; Protocols; Transportation; Swarm robotics; object transportation; target-enclosing; multi-vehicle systems; group coordination
资金
- Engineering and Physical Sciences Research Council (EPSRC) [EP/R008876/1]
- EPSRC [EP/R008876/1] Funding Source: UKRI
The paper presents a unified group coordinated control scheme for networked multi-robot systems with multiple targets. Through discontinuous cooperative control law and continuous cooperative control protocol, stable control of networked MRS is achieved, validated by hardware experiments.
Inspired by the group activities of natural swarms (e.g., a flock of birds, a colony of ants, etc.), a fleet of mobile robots can be collaboratively put into work to accomplish complex real-world tasks. Depending on the nature and complexity of a problem, a multi-robot system (MRS) may need to be decomposed into several subgroups. This paper proposes a unified group coordinated control scheme for networked MRSs having multiple targets. A 'discontinuous' cooperative control law is first developed for a networked MRS to achieve individual sub-formations surrounding the assigned targets. A 'continuous' cooperative control protocol is then proposed to overcome the chattering phenomenon often caused by a discontinuous control action during hardware implementation. The closed-loop stability of the overall networked MRS is guaranteed via the Lyapunov theory and boundary-layer techniques. Finally, two hardware experiments (target-enclosing and object transportation) involving real mobile robots have been carried out to demonstrate the usefulness of the proposed scheme.
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