A practical coordinated trajectory tracking control for over actuated systems: a case study for a group of four-wheels omnidirectional mobile robots

摘要

Coordination between mobile robots is a mature research topic. Yet, different approaches and new idea in improving stability condition emerge. Other aspect is on the practicability of solution for over actuated mobile robot type. In this work we propose a practical control algorithm that coordinates tracking of the reference trajectories for a group of four-wheels omnidirectional mobile robots. Exploiting the kinematic property of the robot, coordination can be achieved by a combination of inverse based individual trajectory control and information sharing between robots. A globally asymptotically stable error dynamics is proven using Lyapunov approach. A simulation validation shows that the proposed controller can achieved tracking accuracy up to 0.02 [m] and responsive to disturbances occurred in the group.