Multi-robot formation control using distributed null space behavioral approach

• Main Authors: Ahmad, Shakeel, Feng, Zhi, Hu, Guoqiang
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2015
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Satellite telecommunication
• Online Access: https://hdl.handle.net/10356/79314; http://hdl.handle.net/10220/38530
• Institution: Nanyang Technological University

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.