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Distributed Formation Control of Multi-Robot Systems with Path Navigation via Complex Laplacian.
Xiru Wu1, Rili Wu1, Yuchong Zhang1
1School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, China.
Entropy (Basel, Switzerland)
|November 24, 2023
Summary
This study presents a distributed formation control strategy for multi-robot systems, enabling coordinated path navigation and scalable formations. The approach ensures robots maintain desired formations and common velocities for enhanced maneuverability.
Area of Science:
- Robotics
- Control Systems
- Artificial Intelligence
Background:
- Coordinated control of multi-robot systems is crucial for complex tasks.
- Leader-follower network structures in directed topologies present unique control challenges.
Purpose of the Study:
- To develop a distributed formation control strategy for multi-robot systems.
- To achieve global path navigation with a desired formation and scalable size.
Main Methods:
- Utilized a distributed linear formation control strategy based on the complex Laplacian matrix.
- Incorporated a velocity consensus component for synchronized movement.
- Integrated path navigation algorithms with formation control.
Main Results:
- Robot agents converged to a similar formation, with size and orientation dictated by leaders.
- Achieved global path navigation for the entire multi-robot system.
- Demonstrated enhanced maneuverability through a scalable formation controller.
Conclusions:
- The proposed distributed control approach is feasible for multi-robot formation control and navigation.
- The strategy enables robots to achieve desired formations, common velocities, and scalable formations.
- Simulation results validate the effectiveness of the approach for coordinated multi-robot systems.
