Coupled Kuramoto oscillator-based control laws for both formation and obstacle avoidance control of two-wheeled mobile robots

摘要

Our previous study proposed a control law for two-wheeled mobile robots that is based on the synchronization phenomenon of coupled Kuramoto oscillators. The control law aims at achieving circular formation around a given target. We must deal with the issue of having robot colliding with potential obstacles while performing the desired encircling behavior, before being able to deploy such a robotic framework. The present report investigates two ways of extending the previous control law into exhibiting obstacle avoidance behaviors. The first possible extension is based on a limit cycle system, whereas the second possible extension is based on the evolution of the desired radius of the circular formation behavior. The control laws are then tested, validated, and compared in a robotic physic-based simulator entitled Gazebo.