ROBUST LEADER-FOLLOWER FORMATION CONTROL OF MOBILE ROBOTS BY THE STRUCTURAL SYNTHESIS METHOD
Yu. N. Zolotukhin, K. Yu. Kotov, A. S. Mal’tsev, A. A. Nesterov, M. A. Sobolev, M. N. Filippov, A. P. Yan
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, pr. Akademika Koptyuga 1, Novosibirsk, 630090 Russia
Keywords: группа лидер-ведомые, управление группировкой мобильных роботов, структурный синтез систем автоматического управления, вынужденное движение, leader-follower formation, control of a formation of mobile robots, structural synthesis of automated control systems, forced motion
Abstract
A problem of control of the motion of mobile robots with a differential drive in a leader-follower formation is considered. The proposed method of structural synthesis allow one to form control inputs for robots-followers only on the basis of information about the relative positions of the followers and the leader without using the absolute values of the spatial coordinates of the robots. The algorithm efficiency is confirmed by results of numerical experiments.
|
