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Leaderless Cooperative Formation Control of Autonomous Mobile Robots Under Limited Communication Range Constraints

In: Cooperative Systems

Author

Listed:
  • Zhihua Qu

    (University of Central Florida)

  • Jing Wang

    (University of Central Florida)

  • Richard A. Hull

    (Lockheed Martin Missiles and Fire Control)

Abstract

Summary In this paper, a new leaderless cooperative formation control strategy is proposed for a group of autonomous mobile robots. Through the local state and input transformations, the formation control problem can be recast as the cooperative control design problem for a class of general canonical systems with arbitrary but finite relative degree. A set of less-restrictive sufficient conditions on group communication topology to ensure the success of cooperative control design has been established. The system stability is rigorously proved by studying the convergence of products of row stochastic matrices. The proposed design does not require either that collaborative robots have a fixed communication/control structure (such as leader/follower or nearest neighbor) or that their sensor/communication graph be strongly connected. Detailed simulation results are provided to illustrate the effectiveness of the proposed method.

Suggested Citation

  • Zhihua Qu & Jing Wang & Richard A. Hull, 2007. "Leaderless Cooperative Formation Control of Autonomous Mobile Robots Under Limited Communication Range Constraints," Lecture Notes in Economics and Mathematical Systems, in: Don Grundel & Robert Murphey & Panos Pardalos & Oleg Prokopyev (ed.), Cooperative Systems, pages 79-104, Springer.
    • Handle: RePEc:spr:lnechp:978-3-540-48271-0_6
    DOI: 10.1007/978-3-540-48271-0_6
    as

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