Performance comparison of consensus protocol and l-&phi approach for formation control of multiple nonholonomic wheeled mobile robots

Abstract

This paper investigates formation control of multiple nonholonomic differential drive wheeled mobile robots (WMRs). Assume the communication between the mobile robots is possible where the leader mobile robot can share its state values to the follower mobile robots using the leader-follower notion. Two approaches are discussed for controlling a formation of nonholonomic WMRs. The first approach is consensus tracking based on graph theory concept, where the linear and angular velocity input of each follower are formulated using first order consensus protocol, such that the heading angle and velocity of the followers are synchronized to the corresponding values of the leader mobile robot. The second is l- approach (distance angle) that is developed based on Lyapunov analysis, where the linear and angular velocity inputs of each follower mobile robot are adjusted such that the followers keep a desired separation distance and deviation angle with respect to the leader robot, and the overall system is asymptotically stable.The aim of this paper is to compare the performances of the presented methods for controlling a formation of wheeled mobile robots with matlab simulations.

Control of mobile robot formations using A-star algorithm and artificial potential fields

“…Because of the non-linearity of the robot model, the elements (𝑘 𝑖𝑖 ) of the control matrix (𝐾) are timevarying and error dependent, as expressed in equation (2). The matrix 𝐾 has to be able to generate control signals 𝑣(𝑡) and 𝜔(𝑡) in such a fashion that the error 𝑒(𝑡) tends to zero as time 𝑡 tends to infinity, i.e., equation (3) has to be satisfied.…”

“…The formation of robots is an imitation of a group of behaviors observed in various creatures in the biological world that tend to work cooperatively in order to achieve a common goal [1]. While most industrial robots can only perform specific movements in the workspace, mobile robots can move freely within the predefined workspace [2]. This feature (mobility) expands the possibilities for the application of mobile robots in different environments [3][4] [5].…”

“…There are certain circumstances in which, due to the complexity of the task, a single robot may not be able to satisfy several tasks simultaneously and/or efficiently. To overcome this, the formation of these robots can be considered [2]. Several advantages are pointed out with the implementation of robotic formations, such as better precision, increased efficiency and robustness against external agents [2].…”

“…To overcome this, the formation of these robots can be considered [2]. Several advantages are pointed out with the implementation of robotic formations, such as better precision, increased efficiency and robustness against external agents [2]. The methods of controlling the formation of mobile robots can be divided into three classes: behavioral approach, virtual structure approach, and leader-follower approach [6] [7].…”

“…There are different leader-follower topologies, for example, approaches that consider multi-leaders, forming a chain (vehicle tracks vehicle), among others [2]. It is possible to find different control techniques for leader-follower robotic formations in the literature.…”