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Formation Control and Tracking for Co-operative Robots with Non-holonomic Constraints

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Abstract

This paper mainly addresses formation control problem of non-holonomic systems in an optimized manner. Instead of using linearization to solve this problem approximately, we designed control laws with guaranteed global convergence by leveraging nonlinear transformations. Under this nonlinear transformation, consensus of non-holonomic robots can be converted into a stabilization problem, to which optimal treatment applies. This concept is then extended to the formation control and tracking problem for a team of robots following leader-follower strategy. A trajectory generator prescribes the feasible motion of virtual reference robot, a decentralized control law is used for each robot to track the reference while maintaining the formation. The asymptotic convergence of follower robots to the position and orientation of the reference robot is ensured using the Lyapunov function which is also generated using chained form differential equations. In order to witness the efficacy of the scheme, simulations results are presented for Unicycle and Car-like robots.

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Authors and Affiliations

  1. Embedded Systems and CPS Laboratory, Department of Computing, The Hong Kong Polytechnic University, Hung Hom, Hong Kong

    Muhammad Umer Khan, Shuai Li, Qixin Wang & Zili Shao

  2. Department of Mechatronics Engineering, Air University, Islamabad, Pakistan

    Muhammad Umer Khan

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  1. Muhammad Umer Khan
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  2. Shuai Li
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  3. Qixin Wang
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  4. Zili Shao
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Correspondence to Muhammad Umer Khan.

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Khan, M.U., Li, S., Wang, Q. et al. Formation Control and Tracking for Co-operative Robots with Non-holonomic Constraints. J Intell Robot Syst 82, 163–174 (2016). https://doi.org/10.1007/s10846-015-0287-y

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  • DOI: https://doi.org/10.1007/s10846-015-0287-y

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