Distance-Based Formation Control With Goal Assignment for Global Asymptotic Stability of Multi-Robot Systems

Title
Distance-Based Formation Control With Goal Assignment for Global Asymptotic Stability of Multi-Robot Systems
Authors
김도익최윤호
Keywords
multi-robot; formation; goal assignment; distance-based
Issue Date
2021-04
Publisher
IEEE robotics and automation letters
Citation
VOL 6, NO 2-2027
Abstract
This letter presents a distance-based formation control with the goal assignment for multiple nonholonomic mobile robots. One of the most challenging issues in the distance-based formation control is the convergence to undesirable formations caused by the gradient-based control law. Even though the target formation is globally rigid, only the local stability is guaranteed. In order to overcome this restriction, we present a novel goal assignment algorithm switching the goal positions of two agents in the target formation. This assignment algorithm helps to avoid the convergence to undesirable formations and thus the global asymptotic convergence can be achieved. To show the effectiveness of the proposed distance-based formation controller with the goal assignment algorithm, simulation and experimental results are provided.
URI
http://pubs.kist.re.kr/handle/201004/73083
ISSN
2377-3766
Appears in Collections:
KIST Publication > Article
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