Observer-Based Leader-Following Formation Control for Multi-Robot With Obstacle Avoidance

Abstract

This paper focuses on the observer-based leader-following formation tracking control for multirobot with obstacle avoidance. First, based on the leader-follower formation control method, setting the trajectory of the leader robot, then the follower robots track the leader robot. Second, an observer for the followers is designed to estimate the state of the leader robot, which can limit the estimation errors to a small value at short time-frame. Moreover, the gain controller and corrective controller are presented to complete the formation task and implement the trajectory transformation, respectively. In addition, an improved obstacle avoidance algorithm is devised to avoid the obstacles by adjusting the angle between the leader robot and the followers. Finally, the simulation results are presented to verify the effectiveness of the proposed control scheme. The main advantages of this paper are both an observer-based controller includes gain control and corrective control is developed for the nonlinear multi-robot system, and the obstacle avoidance problem during movement is solved with the optimal method. INDEX TERMS Multi-robot, formation control, observer-based, obstacle avoidance.

Energy-Efficient Formation Morphing for Collision Avoidance in a Swarm of Drones

“…Formation control algorithms can be categorized into three general approaches [10], [11], namely: 1) the virtual structure based approach, in which all the drones in the swarm formation are navigated as if there was a single big drone and hence the same trajectory is taken [12], [13]; 2) the leader-follower based approach, where every drone functions individually and autonomously by calibrating or altering its position according to the leader and maintaining its position in the formation as close as possible to the desired coordinates [14], [15]; and 3) the behaviour based approach, in which based on a pre-defined strategy the drone selects one of the multiple behaviours [16], [17]. The leader-follower based approach is more common out of the aforementioned approaches, due to its ease of analysis and implementation [18], [19].…”

Formation Control Algorithm and Formation System of Multiple Robots Based on Double Mobile Beacons

“…This theory has become the most commonly used theoretical basis in formation control of robots. Wu, X., et is presented based on the decomposition strategy of multi-robot formation control method, the N robot in the multi-robot system is decomposed into N -1 set of sub team, composed of two robots in each team, follow the robot by maintaining a expectations relative distance between the collar and a robot Li,d and expectations relative azimuth Δψi,d to realize own positioning [2][3][4].…”

“…The first part is the structure of distributed observation network shown in figure (1), as shown in equation (2).…”

“…The form of distributed observation network is not limited to the form in formula (2), but also can be used in the form of the first-order formation control algorithm and the second-order formation control algorithm in the following paragraphs [10]. In the control law designed in this paper, neighbor…”

“…Where, Ci0 and Ci1 in equation (2)(3)(4)(5) are the values of the expected poles of the system when the state transition matrix Di is configured as a controllable system. While the coefficient Pi0, Pi1∈R4*4 is calculated through equation (6).…”