Distributed Formation Control In Multiple Mobile Robot Systems

The study of multi-agents is mainly to complete the complex and huge tasks that a single agent cannot accomplish.In recent years,multi-agent consistency has attracted widespread attention and application from scholars in the control field,such as distributed collaborative control,adaptive identification,distributed parameter estimation,formation control,multi-agent optimization,and aggregation.The goal of multi-agent consistency control is to use the local interaction information between individuals of a multi-agent system to bring all agent states to the same final value.As the most basic practical control object,mobile robot has important practical significance in analyzing the consistency of multi-mobile robot systems.This dissertation mainly studies the consistency of multimobile robot systems and the problem of one-line rotary formation.The main research work and results of the thesis are as follows:In a directional communication topology with a directed spanning tree,the problem of the forward angle consistency and the rotation center consistency of the multi-mobile robot system is studied.In this part,the special dynamic model of the mobile robot is mainly used to disassemble the angle and position information,and the mathematical expression of the position of the center of the circle is defined.Through mathematical transformation and using the idea of consistency control algorithm,a control algorithm with consistent angle and consistent center position has been designed.Then use the knowledge of graph theory to analyze the stability of the system,so that the angle information and center position information of the system can reach the same value.In order to further study the formation of multi-agent systems,this dissertation studies the simple one-word rotary formation and the one-word rotation formation control around a given point.Combined with the research of the angle of the multi-mobile robot system and the consistency of the center of rotation,the mathematical expression and definition of the one-word rotation formation are given,and the control algorithm of the one-word rotation formation in the general directional communication topology is studied and designed.The stability of multi-mobile robot systems is verified by graph theory knowledge and input to state stability lemma.When using MATLAB simulation to verify distributed control algorithms,everything is carried out under ideal conditions,but in practice there are problems of directed com-munication delay and limited speed of mobile robots.In order to verify the effectiveness of the distributed control algorithm in practical applications,a system composed of multiple Turtle Bot3 is used to verify the simulation of two one-word rotation formation control algorithms under Gazebo simulation environment.