Formation Control Design for Multi-Robot System with Obstacle Avoidance

摘要：

　　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.

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

作者: HUANG Jie DOU Lihua FANG Hao WEI Yue

作者单位: 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

会议类型: 国际会议

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

会议地点: 南京

会议语种:英文

页码: 8547-8552

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）