Consensus Based Formation Control and Trajectory Tracing of Multi-Agent Robot Systems

Authors:
Zhengping Wu;Zhihong Guan;Xianyong Wu;Tao Li
Affiliations:
Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, People's Republic of China 430074;Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, People's Republic of China 430074;Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, People's Republic of China 430074;Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, People's Republic of China 430074
Venue:
Journal of Intelligent and Robotic Systems
Year:
2007

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Abstract

Multi-Agent Robot Systems (MARS) are, nowadays, an important research area within robotics and Artificial Intelligence. A growing number of systems have been presented in the literature recently. This paper develops a general method of controller design for formation keeping and motion trajectory tracing of the MARS. A novel motion model about the motion trajectory tracing and group formation control of MARS for fixed and changing interaction is presented. Based on this model and the consensus theory, two theorems about the condition of mobile stability properties of the system are analyzed and proved. Finally, the validity of this scheme is supported by computer simulation.