A simulation framework for decentralized formation control of non-holonomic differential drive robots

F. Tanveer, M. Kadri
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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.
非完整差动机器人分散编队控制仿真框架
分散的协同控制方案是一个主要的研究热点,因为它们与生物系统相似,并且比集中的方案有许多优点。提出了一种差分驱动移动机器人分散协同控制方案的仿真框架,重点研究了编队控制和避障问题。该框架采用分层的三层模型。最高层负责定义中间路点,然后是导航层和轨迹跟踪层。导航层采用虚拟和行为结构以及非线性系统理论的人工势场函数来生成机器人轨迹。针对差速驱动机器人的非完整特性,采用鲁棒滑模控制器进行轨迹跟踪。在合理的假设条件下,给出了编队避障控制在实际场景下的个体层和综合平台的仿真结果。仿真结果验证了该方案的有效性。
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