Distributed predictive formation control of networked mobile robots subject to communication delay

This paper provides a novel distributed predictive controller with guaranteed stability to maintain formation between mobile robots during their motion along a desired path and assure no collisions with obstacles or other adjacent robots, while data is exchanged among them via a packet-delaying comm...

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Bibliographic Details
Published inRobotics and autonomous systems Vol. 91; pp. 194 - 207
Main Authors Hosseinzadeh Yamchi, Mohammad, Mahboobi Esfanjani, Reza
Format Journal Article
LanguageEnglish
Published Elsevier B.V 01.05.2017
Subjects
Formation control
Model predictive control
Multi-robot systems
Time-delay systems
Time-delay systems
Model predictive control
Formation control
Multi-robot systems
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ISSN0921-8890
1872-793X
DOI10.1016/j.robot.2017.01.005

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Summary:This paper provides a novel distributed predictive controller with guaranteed stability to maintain formation between mobile robots during their motion along a desired path and assure no collisions with obstacles or other adjacent robots, while data is exchanged among them via a packet-delaying communication network. First, the closed-loop system dynamics are described as a delayed differential equation with tunable parameters. Then, these adjustable gains are determined synchronously in each agent by the proposed predictive strategy such that a desirable formation is achieved. The efficiency and applicability of the suggested scheme are demonstrated by simulation results.
ISSN:0921-8890
1872-793X
DOI:10.1016/j.robot.2017.01.005