Multi-robot formation control using distributed null space behavioral approach
This paper presents a distributed formation control method for a group of robots. The global objective of achieving a desired formation is obtained by dividing it into a set of local objectives which are achieved in a distributed manner. A basic repetitive pattern in the desired formation is identif...
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| Main Authors: | , , |
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| Other Authors: | |
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2015
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/79314 http://hdl.handle.net/10220/38530 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | This paper presents a distributed formation control method for a group of robots. The global objective of achieving a desired formation is obtained by dividing it into a set of local objectives which are achieved in a distributed manner. A basic repetitive pattern in the desired formation is identified and a corresponding unique differentiable task function is defined based on the position coordinates of the robots forming the pattern. Neighbor selection rules are designed for the robots in such a way that each robot is part of one or more such patterns. A singularity-robust task-priority inverse kinematics method is used to design velocity controllers to achieve these patterns. Since a robot can receive multiple control actions being part of multiple task functions or patterns, a distributed null space behavioral (NSB) approach is designed to combine such multiple control actions in a prioritized way. A comprehensive stability analysis of the proposed approach based on Lyapunov methods is presented. Simulation results are provided to verify the effectiveness of the proposed approach. |
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