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Consensus-Based Formation Control with Time Synchronization for a Decentralized Group of Mobile Robots.

Michał Siwek¹

¹Faculty of Mechatronics, Armament and Aerospace, Military University of Technology, Kaliskiego 2 Street, 00-908 Warsaw, Poland.

Sensors (Basel, Switzerland)

|June 27, 2024

Summary

This study introduces a novel two-layer control system for decentralized mobile robot groups, enhancing formation accuracy through dynamic time synchronization. The synchronized control method improves robot coordination for tasks like logistics.

Keywords:

consensus tracking decentralized group of robots formation control mobile robot synchronous control time synchronization

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Area of Science:

Robotics
Control Systems Engineering
Distributed Systems

Background:

Controlling formations of mobile robots is a key research area.
Existing methods often neglect time synchronization in decentralized robot groups.
Improving movement accuracy necessitates addressing synchronization challenges.

Purpose of the Study:

To develop a two-layer synchronous motion control system for decentralized mobile robot groups.
To integrate dynamic time synchronization into the control algorithm for enhanced accuracy.
To maintain desired group formation and robot synchronization during movement.

Main Methods:

A two-layer control system architecture: a master layer and a sublayer.
Sublayer: trajectory tracking using kinematic and dynamic controllers (linear and angular velocity).
Master layer: consensus tracking and virtual structure algorithms for formation and synchronization.

Main Results:

Simulation studies in MATLAB/Simulink validated the system's functionality.
Laboratory tests using real robots under ROS confirmed the control quality.
The proposed system demonstrated effective synchronization and formation maintenance.

Conclusions:

The developed two-layer synchronous control system effectively manages decentralized mobile robot formations.
Dynamic time synchronization significantly improves the accuracy of group robot movement.
The system is applicable to transportation, logistics, and other multi-robot coordination tasks.