{"title":"A simulation framework for decentralized formation control of non-holonomic differential drive robots","authors":"F. Tanveer, M. Kadri","doi":"10.23919/SICEISCS.2018.8330181","DOIUrl":null,"url":null,"abstract":"Decentralized cooperative control schemes are a prime research focus due to their resemblance to biological systems and many advantages over centralized schemes. This paper presents a simulation framework for a decentralized cooperative control scheme for differential drive mobile robots, with focus on formation control and obstacle avoidance. The framework employs a hierarchical three layered model. The highest layer responsible for defining intermediate waypoints followed by a navigation layer and a trajectory tracking layer. The navigation layer employs virtual and behavioral structures along with artificial potential field functions using non-linear systems theory to generate robot trajectories. Due to non-holonomic nature of the differential drive robots a robust sliding mode controller is employed for trajectory tracking. Simulation results for individual layer and for the integrated platform are presented, for formation control with obstacle avoidance in a practical scenario with reasonable assumptions. Simulation results validate the working of the proposed scheme.","PeriodicalId":122301,"journal":{"name":"2018 SICE International Symposium on Control Systems (SICE ISCS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2018-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2018 SICE International Symposium on Control Systems (SICE ISCS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.23919/SICEISCS.2018.8330181","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
Decentralized cooperative control schemes are a prime research focus due to their resemblance to biological systems and many advantages over centralized schemes. This paper presents a simulation framework for a decentralized cooperative control scheme for differential drive mobile robots, with focus on formation control and obstacle avoidance. The framework employs a hierarchical three layered model. The highest layer responsible for defining intermediate waypoints followed by a navigation layer and a trajectory tracking layer. The navigation layer employs virtual and behavioral structures along with artificial potential field functions using non-linear systems theory to generate robot trajectories. Due to non-holonomic nature of the differential drive robots a robust sliding mode controller is employed for trajectory tracking. Simulation results for individual layer and for the integrated platform are presented, for formation control with obstacle avoidance in a practical scenario with reasonable assumptions. Simulation results validate the working of the proposed scheme.