会议专题

Formation Control Design for Multi-Robot System with Obstacle Avoidance

  This paper focuses on the cooperative formation control of ground multi-robot system with obstacles surroundings.Each robot is modeled by Euler-Lagrange dynamics with unknown disturbance in 2D space.An auxiliary error variable based adaptive cooperative controller is designed for each robot such that all robots ultimately achieve desired formation in finite time,while maintaining obstacle avoidance.The stabilities of finite time control and the formation performance are analyzed by the according Lyapunov functions.Finally,simulation examples demonstrate the effectiveness of the algorithm.

Multi-robot system formation control finite time Euler-Lagrange obstacle avoidance

HUANG Jie DOU Lihua FANG Hao WEI Yue

Beijing Institute of Technology,Beijing 100081,P.R.China;Key Laboratory of Intelligent Control and D Beijing Institute of Technology,Beijing 100081,P.R.China;Key Laboratory of Intelligent Control and D

国际会议

The 33th Chinese Control Conference第33届中国控制会议

南京

英文

8547-8552

2014-07-28(万方平台首次上网日期,不代表论文的发表时间)