Distance-Based Formation Control With Goal Assignment for Global Asymptotic Stability of Multi-Robot Systems_
- Distance-Based Formation Control With Goal Assignment for Global Asymptotic Stability of Multi-Robot Systems_
- 김도익; 최윤호
- multi-robot; goal assignment; distance-based formation; formation control
- Issue Date
- Proceedings of IEEE International Conference on Robotics and Automation (ICRA)
- This paper presents a distance-based formation control with the goal assignment for multiple nonholonomic mobile robots. One of the most challenging issues in the distancebased 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.
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- KIST Publication > Conference Paper
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