Formation Control of Non-holonomic Mobile Robots - Tuning the Algorithm
- 87 Downloads
This paper presents the tuning methodology for the system of multiple two-wheeled mobile robots moving in formation. The procedure was applied to the trajectory tracking algorithm combined with collision avoidance based on the Artificial Potential Functions (APFs). Robots mimic motion of the virtual leader with a certain displacement avoiding collisions with each other and with circular shaped, static obstacles present in the environment. The results obtained during the computations are visualized to enable evaluation of the sensitivity of the closed-loop system to parameter selection. Then, the results of the simulation for the set of best parameters are discussed.
KeywordsRobot formation Nonholonomic robot Tuning algorithm Path following Artificial Potential Function
This work is supported by statutory grant 09/93/DSPB/0811.
- 3.Kowalczyk, W., Michałek, M., Kozłowski, K.: Trajectory Tracking control with obstacle avoidance capability for unicycle-like mobile robot. Bull. Pol. Acad. Sci. Tech. Sci. 60(3), 537–546 (2012)Google Scholar
- 4.Kowalczyk, W., Kozłowski, K.: Leader-Follower control and collision avoidance for the formation of differentially-driven mobile robots. In: 23rd International Conference on Methods and Models in Automation and Robotics (MMAR 2018), pp. 27-30, Miedzyzdroje, Poland, August 2018Google Scholar
- 5.Kowalczyk, W., Kozłowski, K.: Trajectory tracking and collision avoidance for the formation of two-wheeled mobile robots. Bull. Pol. Acad. Sci. Tech. Sci. 67(5), 915–924 (2019)Google Scholar
- 6.Kowalczyk, W., Kozłowski, K., Tar, J.: Trajectory tracking for multiple unicycles in the environment with obstacles. In: 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010), pp. 451–456, Budapest (2010). https://doi.org/10.1109/RAAD.2010.5524544