Extension of Leader‐Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

Abstract

This paper presents the extension of leader-follower behaviours, for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots. The control strategies are based on the decentralized measurements of distance and heading angles. Combining the kinematic models, the control strategies produce the standard and new mechanical behaviours related to rigid body or n-trailer approaches. The analysis is given in pairs of robots and extended to the case of multiple robots with a directed tree-shaped communication topology. Combining these behaviours, it is possible to make platoons of robots, as obtained from cluster space or virtual structure approaches, but now defined by local measurements and communication of robots. Numerical simulations and real-time experiments show the performance of the approach and the possibilities to be applied in multirobot tasks.

Kinematic Modeling of a Combined System of Multiple Mecanum-Wheeled Robots with Velocity Compensation

“…Wang et al [30] proposed a distributed force and torque controller for a group of robots to collectively transport objects with both translation and rotation control and proved that follower robots can synchronize both their forces and torques with a leader robot that guides the group, and thus contribute positively to the transport. Paniagua-Contro et al [31] presented an extension of leader-follower behaviors for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots.Slippage between the wheels and the ground is a disadvantage of Mecanum-wheeled robots, causing them to lose velocity and affecting their positioning accuracy. There are currently some studies on reducing the impact of slippage on the accuracy of robot motion.…”

Leader-Follower Formation with Second-Order Slide Mode Control for Differential-Drive Mobile Robots

“…It is desired to obtain a dynamic model that describes the motion of the robots as a function depending on the distance and the heading angle [3], [5], i.e.…”

“…In a decentralized scheme, the control methodology depends on the local measurements of relative distance or angles [4]. In [5], the authors present the extension of leader-follower behaviours, for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots. The approaches are based on the decentralized measurements of distance and heading angles.…”

Finite Horizon Robust Nonlinear Model Predictive Control for Wheeled Mobile Robots

“…Remark 2. e decoupling technique was the starting idea of robust adaptive control design in mobile robotic systems [9]. However, it is worth noting that this technique does not guarantee implementing motion/force control objective due to elimination of constraint force factor being the Lagrangian constraint coefficient (3). In order to implement the motion/force control problem, the chain form-based decoupling techniques were mentioned in [25].…”

“…Mobile vehicle systems have a broad application prospective in many important fields (military, industry, and hospital task) and are attractive to researchers throughout the world following several main directions including interaction between chaotic systems and mobile robots [1,2], multirobot coordination [3], trajectory tracking control, and motionforce control problem. e conventional nonlinear control technique has been mentioned in many works by researchers [4].…”