Research On Formation Control And Cooperative Collision Avoidance For Multiple Mobile Miniature Robots

Formation control is an extremely typical problem in the multiple mobile robots cooperation,and has strong practicability.It is an important problem that how to avoid the collision in real time among robots or between the robot and the static obstacles around it in formation control.Especially for the collision problem among robots,it may affect the robustness of the whole system.Therefore,for multiple robots,it is important to design a reasonable and effective control algorithm for formation and collision avoidance,which has theoretical and practical significance.At present,although the existing formation collision avoidance methods have realized the formation and obstacle avoidance control of multiple mobile robots,and improved the efficiency of formation control,the robust stability and theoretical analysis of systems are not perfect.The control Lyapunov function can handle the robust control problem of the internal(model structure or parameter value)and external(perturbation)uncertain factors of multiple robots at the same time.The Lyapunov analysis method has been paid more and more attention in recent years,and it can be directly applied to the design of controller.Therefore,based on the control Lyapunov method,this paper presents a controller function for formation control and cooperative collision avoidance,and the controller function is applied to the formation control of multiple mobile miniature robots.The main works of this paper are as follows:(1)According to the non-holonomic constraints of mobile miniature robots,the kinematics model and collision avoidance function are constructed.In order to avoid collision and singular cases,some reasonable assumptions are given in this paper.(2)The controller for formation control and cooperative collision avoidance is designed,which is applicable to each mobile miniature robot.The robust stability of the multiple robots system is analyzed by Lyapunov method.(3)The static obstacle avoidance,cooperative collision avoidance and formation control simulations are completed respectively,and the simulation results areanalyzed in detail.(4)The formation and collision avoidance control method proposed by the paper is validated on the platform of the Mobile Miniature Desktop Robot which is researched and developed by us,and the primary cause of the error between simulation and actual movement is given.The experimental results show that the motion model and collision avoidance control method proposed in this paper solve the problem of formation control and cooperative collision avoidance of multiple robots,and the robust stability of the non-holonomic systems can be guaranteed.The paper adopts a novel distributed control scheme which transforms it into tracking trajectory of the mass center of whole formation.Thus,the complexity of the formation control is reduced,and it can be better applied to multiple mobile miniature robots with limited computing resources.