期刊
APPLIED SCIENCES-BASEL
卷 11, 期 19, 页码 -出版社
MDPI
DOI: 10.3390/app11199170
关键词
distributed control; formation control; multi-robot system; non-uniform and non-circular formation; order preservation; obstacle avoidance
类别
资金
- National Key Research and Development Project [2019YFC1510900]
- National Natural Science Foundation of China [61973172, 61973175, 62003175]
This paper investigates formation control problems for a group of anonymous mobile robots with unknown nonlinear disturbances, proposing a flexible distributed control law that can achieve various formation patterns and ensure no collisions between robots.
This paper mainly investigates formation control problems for a group of anonymous mobile robots with unknown nonlinear disturbances on a plane, in which all robots can asymptotically converge to any formation patterns without collision, and maintain any required relative distance with neighboring robots. To solve this problem, all robots are modeled as kinematic points and can only acquire information from other robots and their targets. Furthermore, a flexible distributed control law is designed to solve the formation problem while no collisions between any robots can be guaranteed during the whole process. The outstanding feature of the proposed control method is that it can force all mobile robots to form not only uniform circle formations but also non-uniform and non-circular formations with moving target centers. At last, both theoretical analysis and numerical simulations show the feasibility of the proposed control law.
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