Distributed Formation Tracking of Multi Robots with Trajectory Estimation
This paper investigates distributed formation tracking of multi robots with virtual robot as reference trajectory subject to communication failure. The objective is to propose a control approach which improves the performances of the formation in term of stability and robustness. Suppose fixed and directed communication topology, the control law is developed for each robot using extended consensus algorithm with a time varying reference trajectory. Meanwhile, polynomial regression method is implemented for estimating the trajectory of the virtual robot to overcome communication failure. At the end, Matlab simulations are carried out and the comparative results demonstrate the effectiveness of the proposed approach.
KeywordsMobile robot Formation control Graph theory Communication failure Polynomial regression Stability
This work was partially supported by the National Natural Science Foundation of China under Grant 61321002.
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