Formation control method of mobile robots under constraint of communication range

A mobile robot, communication range technology, applied in non-electric variable control, two-dimensional position/channel control, control/regulation system and other directions, can solve problems such as collision, measurement failure, affecting system performance, etc.

Inactive Publication Date: 2018-12-11
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

The part of the model needs to be compensated in the formation controller designed for mobile robots. Mo...

Method used

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  • Formation control method of mobile robots under constraint of communication range
  • Formation control method of mobile robots under constraint of communication range
  • Formation control method of mobile robots under constraint of communication range

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Embodiment

[0074] The leader-follower formation control of the mobile robot under the constraint of the communication range, there are 4 mobile robots in the formation, figure 1 Schematic diagram of leader-follower formation for mobile robots under the constraints of communication range.

[0075] like figure 2 Shown is the overall control block diagram of the leader-follower formation control method of the mobile robot under the constraint of the communication range. The detailed implementation process of the control method includes the following steps:

[0076] Step (1): Establish the dynamic model of the mobile robot in the leader-follower formation structure, and expand the dynamic model in vector form into scalar form;

[0077] Establish the system model of the ith (i=1,2,3,4) mobile robot in the leader-follower formation structure, and its vector form is:

[0078]

[0079] in, is the position of the i-th mobile robot (x i ,y i ) and direction ω i =[ω 1i ,ω 2i ] T is ...

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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...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0289G05D1/0295
Inventor 戴诗陆陈鑫王敏李烈军
Owner SOUTH CHINA UNIV OF TECH
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