Connectivity preservation and collision avoidance in networked nonholonomic multi-robot formation systems: Unified error transformation strategy

摘要

This paper proposes a unified error transformation strategy for the distributed formation tracking of networked uncertain nonholonomic mobile robots with different communication ranges. To guarantee the connectivity preservation and collision avoidance of all robots without employing any potential functions, a novel nonlinear formation error function using the relative distance and angles between robots is introduced. Then, the approximation-based local adaptive tracking design methodology using the dynamic surface design technique is recursively established to achieve (i) the connectivity preservation and collision prevention of initially connected robots, (ii) the collision avoidance of initially non connected robots, and (iii) the desired formation tracking of robots in a fully distributed manner. The stability of the total closed-loop control system is analyzed in the Lyapunov sense. (C) 2019 Elsevier Ltd. All rights reserved.