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

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.