Formation Control of Multiple Groups of Nonholonomic Wheeled Mobile Robots

Authors:
Soumic Sarkar;Indra Narayan Kar
Affiliations:
Department of Electrical Engineering, Indian Institute of Technology, Hauz Khas, New Delhi-110 016, INDIA;Department of Electrical Engineering, Indian Institute of Technology, Hauz Khas, New Delhi-110 016, INDIA
Venue:
Proceedings of Conference on Advances In Robotics
Year:
2013

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Abstract

Formation of multiple groups of robots has recently arrested attention with the intent to generate different geometric patterns and shapes. In this paper, a centroid based transformation (CBT), that captures the constraint relationship among robots, has been introduced for multiple groups of robots, and it decomposes the combined dynamics of nonholonomic wheeled mobile robots (WMRs) into intra group shape dynamics, inter group shape dynamics, and the dynamics of the centroid. Upon application of the transformation, a modular architecture is formed, which gives the flexibility to design separate control laws for intra group, inter group shape variables, and the tracking control of the centroid. A new control law has been proposed such that the overall error dynamics becomes singularly perturbed system. Three time scale convergence of the error dynamics, has been achieved by selecting suitable controller gains, and also order of the system is significantly reduced after the convergence of the intra and inter group shape variables. Negative gradient of a potential based function has been appended to the controller to ensure collision avoidance among the robots. Simulation results has been provided to demonstrate the effectiveness of the proposed controller.