A hybrid formation control design for multi-robot system with obstacle avoidance | |
Wu Shiguang1,2; Sui Zezhi1,2; Yi Jianqiang1,2; Pu Zhiqiang1,2 | |
2019-07-27 | |
会议日期 | July 27-30 |
会议地点 | Guangzhou |
英文摘要 | The formation control of multi-robot systems in complex environments is a challenging problem, which needs to handle velocity estimation and obstacle avoidance problems. However, few researches considered these problems simultaneously in the literature. In this paper, a leader-follower hybrid formation control design for multi-robot system is proposed, which simultaneously solves leader-follower formation control problem, velocity estimation problem, and obstacle avoidance problem. First, based on the leader-follower architecture, formation control law is designed. Second, considering the difficulty of obtaining the whole accurate velocity information, a velocity estimator of the leader is designed, and the Lyapunov function is used to analyze the stability of the multi-robot system. In addition, the artificial potential field (APF) method is adopted to avoid obstacles in complex environments. Finally, an experimental platform of the multi-robot system is constructed, and simulation and experimental results verify the effectiveness performance of the leader-follower hybrid formation control design for the multi-robot system. |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/48729] |
专题 | 综合信息系统研究中心_飞行器智能技术 |
通讯作者 | Wu Shiguang |
作者单位 | 1.Institute of Automation, Chinese Academy of Sciences 2.School of Artificial Intelligence, University of Chinese Academy of Sciences |
推荐引用方式 GB/T 7714 | Wu Shiguang,Sui Zezhi,Yi Jianqiang,et al. A hybrid formation control design for multi-robot system with obstacle avoidance[C]. 见:. Guangzhou. July 27-30. |
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