This paper considers a polygon formation control of multiple robots with nonholonomic constraintsenclosing a goal target and double-level-control collision avoidance scheme. Doublelevel-control scheme consisted of upp...This paper considers a polygon formation control of multiple robots with nonholonomic constraintsenclosing a goal target and double-level-control collision avoidance scheme. Doublelevel-control scheme consisted of upper-level and lower-level controls are proposed for trajectorygeneration and tracking control of multi-robot systems. Both upper-level and lower-levelcontrols operate collision avoidance mechanisms based on potential functions. The proposedcontrol scheme guarantees that the group of robots are kept in the polygon formation and drivento a goal, while avoiding collisions during the travel. Moreover, the designed interaction betweenthe upper- and lower-level controls guarantees that the mobile robots are not trapped in localminima or deadlock case. Experiments of the formation of three-robots are conducted to showthe performance of the mobile robots in accomplishing a polygon formation while achieving thegoal without any collision and no local minima.展开更多
基金the Indonesia Endowment Fund for Education,Indonesian Ministry of Finance,under the Commercial Innovative-Productive Research[grant number PRJ-25/LPDP/2019].
文摘This paper considers a polygon formation control of multiple robots with nonholonomic constraintsenclosing a goal target and double-level-control collision avoidance scheme. Doublelevel-control scheme consisted of upper-level and lower-level controls are proposed for trajectorygeneration and tracking control of multi-robot systems. Both upper-level and lower-levelcontrols operate collision avoidance mechanisms based on potential functions. The proposedcontrol scheme guarantees that the group of robots are kept in the polygon formation and drivento a goal, while avoiding collisions during the travel. Moreover, the designed interaction betweenthe upper- and lower-level controls guarantees that the mobile robots are not trapped in localminima or deadlock case. Experiments of the formation of three-robots are conducted to showthe performance of the mobile robots in accomplishing a polygon formation while achieving thegoal without any collision and no local minima.
