FORMATION MOTION CONTROL OF THE WHEELED MOBILE ROBOTS ALONG AN IDENTICAL TARGET TRAJECTORY
In order for a formation of the wheeled mobile robots to smoothly execute tasks along the narrow paths in certain special terrains,it is often necessary to control all mobile robots to move along the same target trajectory curve.To achieve this formation motion control task,a leader-follower control strategy is proposed in this paper.First,the target path curve is designed in the form of a dynamically tracked target,which achieves accurate tracking of the target curve by tracking the relative curvature in the dynamically tracked target.Then,the relation between the target trajectory curve and the relative angles of the leader and follower is found to design the closed-loop controller.In the double closed-loop controller,an attitude controller is constructed by using the direct Lyapunov function method for the outer loop,while a torque controller is formulated by the time-varying obstacle Lyapunov function method for the inner loop.Finally,numerical simulations are performed to verify the effectiveness and robustness of the proposed control strategy.
target trajectory curveformation controlleader-follower approachdynamic tracking targetdouble closed-loop control
万方数据
维普
