Robust tracking control of mobile robot formation with obstacle avoidance

  • Authors:

  • Tiantian Yang;Zhiyuan Liu;Hong Chen;Run Pei

  • Affiliations:

  • Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China;Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China;Department of Control Science and Engineering, Jilin University, Changchun, China;Department of Control Science and Engineering, Harbin Institute of Technology, Harbin, China

  • Venue:
  • Journal of Control Science and Engineering
  • Year:
  • 2007

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Abstract

We consider the formation control problem of multiple wheeled mobile robots with parametric uncertainties and actuator saturations in the environment with obstacles. First, a nonconvex optimization problem is introduced to generate the collision-free trajectory. If the robots tracking along the reference trajectory find themselves moving close to the obstacles, a new collision-free trajectory is generated automatically by solving the optimization problem. Then, a distributed control scheme is proposed to keep the robots tracking the reference trajectory. For each interacting robot, optimal control problem is generated. And in the framework of LMI optimization, a distributed moving horizon control scheme is formulated as online solving each optimal control problem at each sampling time. Moreover, closed-loop properties inclusive of stability and H∞ performance are discussed. Finally, simulation is performed to highlight the effectiveness of the proposed control law.