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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
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Leader-follower formation control based on non-inertial frames for non-holonomic mobile robots
M Velasco-Villa1, A Rodriguez-Angeles1,2, I Z Maruri-López1
1Center for Research and Advanced Studies, CINVESTAV-IPN. Electrical Engineering Department, Mechatronics Section, Mexico, Mexico.
Plos One
|January 29, 2024
Summary
This study introduces a novel chain formation strategy for multiple mobile robots, enabling follower robots to track the delayed path of preceding robots. This method ensures stable robot formations using local measurements and Lyapunov stability analysis.
Area of Science:
- Robotics
- Control Systems
- Multi-agent Systems
Background:
- Coordinated control of multiple mobile robots is crucial for complex tasks.
- Existing formation strategies often require global positioning or communication.
Purpose of the Study:
- To develop a decentralized chain formation strategy for differential drive mobile robots.
- To enable follower robots to accurately track the delayed trajectory of their leader robot.
Main Methods:
- A mobile frame-based approach where each robot's position is defined relative to the next robot in the chain.
- Utilizing past and current velocity inputs for trajectory estimation.
- Employing Lyapunov stability techniques to prove convergence.
Main Results:
- The trailing distance between robots dynamically adjusts based on leader velocity.
- The proposed strategy ensures convergence of follower robots to the leader's delayed trajectory.
- Validated through numerical simulations and real-time experiments.
Conclusions:
- The chain formation strategy is effective for decentralized multi-robot coordination.
- The method provides robust trajectory tracking with local information.
- Demonstrates potential for applications requiring ordered robot movement.
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