Abstract
Consistency problem is a basic problem in the field of collaborative control of multi-robot systems. Aiming at the problem of formation forming and formation keeping of multi-mobile robots, this paper presents a leader-follower formation control method which integrates path planning and trajectory tracking. This method effectively solves the problem of multi-robots cooperating to achieve the goal. In this paper, the coordinated control of nonholonomic constraints wheeled robot systems is study. Firstly, a mathematical model of nonholonomic constraint conditions is established for a wheeled robot. Secondly, through the global coordinates transformation, leader-following model is converted to a local coordinate system error model. Finally, a reasonable formation moving control protocol for multi-robot systems with leader-follower is set up. By setting the parameters of the PID control strategy, the feasibility and effectiveness of the leader-following control strategy of multi-robot systems is illustrated.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Madhevan B, Sreekumar M (2013) Tracking algorithm using leader follower approach for multi robots. Procedia Eng 64:1426–1435
Peng Z, Yang S, Wen G et al (2016) Adaptive distributed formation control for multiple nonholonomic wheeled mobile robots. Neurocomputing 173(3):1485–1494
Cao KC, Liu C (2012) Formation tracking control and formation stabilization control of multiple nonholonomic mobile robots. In: 31st Chinese control conference (CCC), 2012, IEEE
Consolini L, Morbidi F, Prattichizzo D et al (2008) Leader–follower formation control of nonholonomic mobile robots with input constraints. Automatica 44(5):1343–1349
Hongyong Y, Yize Y, Fujun H et al (2019) Containment control of heterogeneous fractional-order multi-agent systems. J Franklin Inst 356(2):752–765
Hongyong Y, Xunlin Z, Siying Z (2010) Consensus of second-order delayed multi-agent systems with leader-following. Eur J Control 16(2):188–199
Amoozgar MH, Alipour K, Sadati SH, et al (2010) Position control of multiple wheeled mobile robots using fuzzy logic. In: IEEE/ASME international conference on advanced intelligent mechatronics, IEEE
Funjun H, Lei G, Hongyong Y (2016) Sampling control on collaborative flocking motion of discrete-time system with time-delays. Neurocomputing 216:242–249
Hongyong Y, Zhenxing Z, Siying Z (2011) Consensus of second-order multi-agent systems with exogenous disturbances. Int J Robust Nonlinear Control 21:945–956
Choi IS, Choi JS, Chung WJ (2012) Leader-follower formation control without information of heading angle. In: IEEE/SICE international symposium on system integration, IEEE
Acknowledgements
The research is supported by the National Natural Science Foundation of China (61673200, 61771231), the Major Basic Research Project of Natural Science Foundation of Shandong Province of China (ZR2018ZC0438) and the Key Research and Development Program of Yantai City of China (2019XDHZ085).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Sun, Y., Yang, H., Yang, Y., Li, Y., Liu, Y. (2020). Formation Consistency Research of Multi-robot Systems with Leader-Following. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2019 Chinese Intelligent Systems Conference. CISC 2019. Lecture Notes in Electrical Engineering, vol 594. Springer, Singapore. https://doi.org/10.1007/978-981-32-9698-5_25
Download citation
DOI: https://doi.org/10.1007/978-981-32-9698-5_25
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-32-9697-8
Online ISBN: 978-981-32-9698-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)