Distributed Formation Control for a Group of Multiple Nonholonomic Mobile Robots
Shanghai Institute of Applied Mathematics and Mechanics, Shanghai UniversitySchool of Mechatronic Engineering and Automation, Shanghai University
摘要：This brief is concerned with the distributed cooperative formation control for a group of multi-nonholonomic mobile robots from the view of multi-agent systems. A simple yet general model of multi-nonholonomic mobile robot is first introduced,and a distributed formation controller is then proposed for multi-nonholonomic mobile robots（MNMRs） by systematically integrating a kinematic controller and a torque controller. A distinctive feature of the developed distributed formation strategy is to introduce the network topology characterizing communication interaction among robots, where a few robots of the group are only assumed to receive the information of the desired formation for MNMRs, and so it is particularly suitable to be implemented for a large number of robots in practice. Finally, simulation examples are presented to demonstrate the effectiveness of the proposed formation methodology.