Formation control with obstacle avoidance of multi-robot systems with second-order dynamics

Zhang，Zhongnan1; Ling，Qing1; Yang，Zaiyue2

10.23919/ChiCC.2019.8866564

2019-07-01

1934-1768

2161-2927

978-1-7281-2329-5

Chinese Control Conference, CCC

2019-July

5978-5983

27-30 July 2019

Guangzhou, China

IEEE Computer Society

This paper combines the leader-follower protocol with potential field and realizes a formation tracking scheme with obstacle avoidance for multi-robot systems with second-order dynamics robots. The proposed approach consists of the following contributions. First, a switching rule is applied in the control design to switch the robots from the joint formation control and obstacle avoidance (hybrid) mode to the pure formation control (pure) mode. In such a way, the computation of control signal can be simplified. Second, we use the estimated velocity of the leader in the control design of followers, such that the followers can track the arbitrarily moving leader. Third, the rotational field is combined with the traditional repulsive field to drive the robots escaping from local optima. Two groups of simulation are fcarried out to verify the effectiveness of the proposed approach.

Formation control Multi-robot system Obstacle avoidance

其他

英语

EI

20194507630853

2-s2.0-85074403564

Scopus

1.School of Data and Computer ScienceSun Yat-sen University,China
2.Department of Mechanical and Energy EngineeringSouthern University of Science and Technology,China

Zhang，Zhongnan,Ling，Qing,Yang，Zaiyue. Formation control with obstacle avoidance of multi-robot systems with second-order dynamics[C]:IEEE Computer Society,2019:5978-5983.