Affiliation:
1. School of Automotive Engineering, Dalian University of Technology, Dalian, China
2. Ningbo Institute, Dalian University of Technology, Ningbo, China
Abstract
This article develops an effective adaptive obstacle avoidance control strategy containing formation decision mechanism and a model predictive control–based formation controller for a multi-robot system working in a narrow alleyway environment. First, a decision mechanism containing two obstacle avoidance methods, homogeneous deformation and heterogeneous deformation, is established to provide a flexible choice for the formation to pass through the obstacle area, taking into account the formation safety and environment constraint. Furthermore, a formation bank is preset, and a performance evaluation system containing structural deformation, convergence speed, and energy consumption is established to help determine the best obstacle avoidance configuration. Then, a model predictive control–based formation controller with the leader–follower approach is utilized to realize the configuration switching and keeping. In the end, the simulation results verify the effectiveness of the proposed control strategy.
Funder
National Key Research and Development Program of China
Fundamental Research Funds for the Central Universities
National Natural Science Foundation of China-Shenzhen Robotics Research Center Project
Subject
Mechanical Engineering,Control and Systems Engineering
Cited by
1 articles.
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1. Fixed-time sliding mode estimator-based distributed formation control for multiple nonholonomic mobile robots;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2024-01-16