Multi-robot Formation Discrete Kinematics Model and Formation Control

摘要

The kinematics model of distributed multirobots formation was modeled in time-discrete condition with revolving round the formation center. Then make use of it to keep the desired front-end turn toward velocity orientation. At the same time, to converge to the desired geometry formation and the desired motion regular, a kind of communication topology graphs were defined, and a distributed discrete coordination control algorithm was proposed based on those graphs. A sufficient and necessary condition of asymptotic stability of the formation system is proved, and the convergence region of feedback control parameter is obtained. Lastly proved that the formation can converge to the desired geometry formation and to the desired motion regular under this sufficient and necessary condition. Simulation shows that the control algorithm can make the multirobots form the desired geometry formation and converge to the desired motion regular. It suggests that the control algorithm is effective and correct.