Moving formation convergence of a group of mobile robots via decentralised information feedback |
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| Authors: | Guangming Xie Long Wang |
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| Affiliation: | 1. LTCS and College of Engineering , Intelligent Control Laboratory, Center for Systems and Control, Peking University , Beijing 100871, China;2. School of Electrical and Electronics Engineering , East China Jiaotong University , Nanchang 330013, China xiegming@pku.edu.cn;4. LTCS and College of Engineering , Intelligent Control Laboratory, Center for Systems and Control, Peking University , Beijing 100871, China |
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| Abstract: | In this article, a decentralised information feedback mechanism is introduced to a group of mobile robots such that the robots asymptotically converge to a given moving formation. It is assumed that the robots can exchange only position information according to a pre-specified communication graph. Each node represents a robot. Two robots are neighbours of each other if there is an edge between the two nodes. A feedback controller is performed for each robot by only using its own velocity information and the position information from its neighbours. It is proven that if the graph is connected, then the convergence to the moving formation of the closed-loop system is guaranteed. Several numerical simulations are presented to illustrate the results. |
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| Keywords: | moving formation decentralised feedback formation control communication graph multi-robot systems |
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