Distributed Model Predictive Formation Control with Gait Synchronization for Multiple Quadruped Robots

Shaohang Xu, Wentao Zhang, Lijun Zhu, C. Ho
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Abstract

In this paper, we present a fully distributed framework for multiple quadruped robots in environments with obstacles. Our approach utilizes Model Predictive Control (MPC) and multi-robot consensus protocol to obtain the distributed control law. It ensures that all the robots are able to avoid obstacles, navigate to the desired positions, and meanwhile synchronize the gaits. In particular, via MPC and consensus, the robots compute the optimal trajectory and the contact profile of the legs. Then an MPC-based locomotion controller is implemented to achieve the gait, stabilize the locomotion and track the desired trajectory. We present experiments in simulation and with three real quadruped robots in an environment with a static obstacle.
多四足机器人步态同步的分布式模型预测编队控制
在本文中,我们提出了一个完全分布式的框架,用于多个四足机器人在有障碍物的环境中。该方法利用模型预测控制(MPC)和多机器人共识协议来获得分布式控制律。它确保所有的机器人能够避开障碍物,导航到期望的位置,同时同步的步态。特别是,通过MPC和共识,机器人计算出最佳轨迹和腿的接触轮廓。在此基础上,设计了基于mpc的运动控制器,实现了机器人的步态控制、运动稳定和运动轨迹跟踪。我们在一个有静态障碍物的环境中进行了模拟实验和三个真实的四足机器人的实验。
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