Formation control method of mobile robots under constraint of communication range

Abstract

The invention discloses a formation control method of mobile robots under constraint of a communication range. The formation control method of mobile robots under constraint of a communication range designs a formation controller for uncertainty of models for mobile robots and guarantees that the formation error eventually converges to zero point. The formation control method of mobile robots under constraint of a communication range includes the steps: constructing dynamic models for mobile robots; defining a distance variable and an azimuth variable between the i-th mobile robot and the leader of the i-th mobile robot in a leader-follower formation structure; designing a performance function for the formation distance error and the azimuth error; combining the performance function with the tan-type obstacle Lyapunov function and a backstepping design method, designing a formation controller; and using an adaptive control technology to solve the uncertainty problem of models in the controller design. The formation controller designed by the formation control method of mobile robots under constraint of a communication range enables each mobile robot in the leader-follower formationstructure to measure both the information of the leader of the each mobile robot and avoid collision with the leader, and the formation error satisfies the preset transient performance, and eventually can converge to the zero point.

Description

technical field [0001] The invention relates to the field of formation control of mobile robots, in particular to a formation control method of mobile robots under the constraint of communication range. Background technique [0002] In recent years, the formation control of mobile robots has increasingly become a research hotspot, mainly because compared with a single mobile robot, a group of mobile robots with a certain formation structure are more efficient in completing certain complex and dangerous operations, such as target search, Environmental protection, resource measurement, etc. Among many formation structures, the leader-follower formation structure has received more attention because of its simple structure and easy expansion. At present, there have been some research results on this formation structure. In the leader-follower formation structure, each mobile robot follows its leader and at the same time acts as the leader of its followers, and the entire format...

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