Robust distance-angle leader-follower formation control of non-holonomic mobile robots

Soltani, Nahid; Shahmansoorian, Aref; Khosravi, Mohammad A.

doi:10.1109/icrom.2014.6990771

Cited by 13 publications

(4 citation statements)

References 19 publications

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“…The zero-space behavior control method was proposed by Arrichiello et al (2010) and has a precise mathematical description to ensure the execution of tasks as a priority. Soleymani and Saghafi (2010) proposed a combined method of doubleloop control and Lyapunov systems directed to keep MRF. Conflict resolution and individual cooperation could be realized based on the combined method to solve individual prediction and ease the computational complexity.…”

Section: Introductionmentioning

confidence: 99%

Multi-robot consensus formation based on virtual spring obstacle avoidance

Fan,

Li,

Liu

et al. 2024

Mech. Sci.

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Abstract. A systematic improvement of the multi-robot formation control algorithm has been developed to address multi-robot formation instability. First, a static obstacle avoidance model based on spring force mapping is proposed, followed by an analysis of the influence of static and dynamic obstacles on the processing of multi-robot cooperative motion. Second, a leader is introduced to the formation to save computational costs. Third, the Velocity Obstacle (VO) algorithm is improved to resolve robot collisions during the dynamic mobility process caused by the increased number of multi-robot formations. Simultaneously, the dynamic speed limit function based on the position error for formation keeping is established. Finally, simulation experiments are carried out. Results show that when 5-robot and 20-robot formations were compared in the environment without dynamic conflict, the average value of the position error of 20-robot formations only increased by 39.47 %, and the average value of the path length did not differ significantly. In the dynamic conflict environment, the maximum position error of 20-robot formations increases by 73.03 % and the path length average value increases by 7.69 %. Our proposed method can control the motion of multiple robots in both conflict-free and conflict-filled environments, resulting in an effective motion planning scheme.

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Section: Introductionmentioning

confidence: 99%

Multi-robot consensus formation based on virtual spring obstacle avoidance

Fan,

Li,

Liu

et al. 2024

Mech. Sci.

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“…On the other hand, the second-order dynamic model is usually more precise due to the inclusion of effects like friction and inertia [25]. In this sense, some works that address the distance-based leader-follower control through the dynamic model (or double integrator dynamics) can be found in [26][27][28][29]. Specifically, in [26], sliding mode controllers were designed to guarantee the formation of non-holonomic mobile robots under the presence of bounded external disturbances and considering a simplified dynamic model; in [27], the authors guarantee that agents will reach their desired formation in finite time, while in [28] a gradient-like control law is proposed.…”

Section: Introductionmentioning

confidence: 99%

“…In this sense, some works that address the distance-based leader-follower control through the dynamic model (or double integrator dynamics) can be found in [26][27][28][29]. Specifically, in [26], sliding mode controllers were designed to guarantee the formation of non-holonomic mobile robots under the presence of bounded external disturbances and considering a simplified dynamic model; in [27], the authors guarantee that agents will reach their desired formation in finite time, while in [28] a gradient-like control law is proposed. Nevertheless, only the local stability of the closed-loop systems is proofed, and no perturbations are considered in [27,28].…”

Section: Introductionmentioning

confidence: 99%

Leader–Follower Formation and Disturbance Rejection Control for Omnidirectional Mobile Robots

Ramírez-Neria,

González-Sierra,

Madonski

et al. 2023

Robotics

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This paper proposes a distance-based formation control strategy with real-time disturbance rejection for omnidirectional mobile robots. The introduced control algorithm is designed such that the leader tracks a desired trajectory while the follower keeps a desired distance and formation angle concerning the leader. In the first step, the evolution of distance and formation angle is obtained from a perturbed second-order dynamic model of the robot, aided by a general proportional integral observer (GPIO), added to estimate unwanted disturbances. Then, the control law is designed for both robots via the active disturbance rejection control (ADRC) methodology, which only depends on the position, distance, and orientation measurements. A numerical simulation compared with a robust controller exhibits the system’s behavior. Furthermore, a set of laboratory experiments is conducted to verify the performance of the proposed control system, where a motion capture system is used as a proof of concept. In this context, this is considered a previous step for further experimentation with onboard sensors.

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“…A pioneer work can be found in [6], where a follower robot is formed with respect to one or two leaders. In [7] the desired position of the follower is given by a virtual unicycle robot. The estimation of the posture of a single leader is given in 2 Mathematical Problems in Engineering [8].…”

Section: Introductionmentioning

confidence: 99%

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

Paniagua-Contro

Hernández‐Martínez

González-Medina

et al. 2019

Mathematical Problems in Engineering

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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.

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Robust distance-angle leader-follower formation control of non-holonomic mobile robots

Cited by 13 publications

References 19 publications

Multi-robot consensus formation based on virtual spring obstacle avoidance

Multi-robot consensus formation based on virtual spring obstacle avoidance

Leader–Follower Formation and Disturbance Rejection Control for Omnidirectional Mobile Robots

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

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