Distributed Formation Control of Multi-Robot Systems with Path Navigation via Complex Laplacian
This paper focuses on the formation control of multi-robot systems with leader–follower network structure in directed topology to guide a system composed of multiple mobile robot agents to achieve global path navigation with a desired formation. A distributed linear formation control strategy based...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-11-01
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| Series: | Entropy |
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| Online Access: | https://www.mdpi.com/1099-4300/25/11/1536 |
| _version_ | 1797459423483920384 |
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| author | Xiru Wu Rili Wu Yuchong Zhang Jiansheng Peng |
| author_facet | Xiru Wu Rili Wu Yuchong Zhang Jiansheng Peng |
| author_sort | Xiru Wu |
| collection | DOAJ |
| description | This paper focuses on the formation control of multi-robot systems with leader–follower network structure in directed topology to guide a system composed of multiple mobile robot agents to achieve global path navigation with a desired formation. A distributed linear formation control strategy based on the complex Laplacian matrix is employed, which enables the robot agents to converge into a similar formation of the desired formation, and the size and orientation of the formation are determined by the positions of two leaders. Additionally, in order to ensure that all robot agents in the formation move at a common velocity, the distributed control approach also includes a velocity consensus component. Based on the realization of similar formation control of a multi-robot system, the path navigation algorithm is combined with it to realize the global navigation of the system as a whole. Furthermore, a controller enabling the scalability of the formation size is introduced to enhance the overall maneuverability of the system in specific scenarios like narrow corridors. The simulation results demonstrate the feasibility of the proposed approach. |
| first_indexed | 2024-03-09T16:51:07Z |
| format | Article |
| id | doaj.art-b2811289726d47aa98094fa00b6099ab |
| institution | Directory Open Access Journal |
| issn | 1099-4300 |
| language | English |
| last_indexed | 2024-03-09T16:51:07Z |
| publishDate | 2023-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Entropy |
| spelling | doaj.art-b2811289726d47aa98094fa00b6099ab2023-11-24T14:41:03ZengMDPI AGEntropy1099-43002023-11-012511153610.3390/e25111536Distributed Formation Control of Multi-Robot Systems with Path Navigation via Complex LaplacianXiru Wu0Rili Wu1Yuchong Zhang2Jiansheng Peng3School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, ChinaSchool of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, ChinaSchool of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, ChinaKey Laboratory of AI and Information Processing, Education Department of Guangxi Zhuang Autonomous Region, Hechi University, Hechi 546300, ChinaThis paper focuses on the formation control of multi-robot systems with leader–follower network structure in directed topology to guide a system composed of multiple mobile robot agents to achieve global path navigation with a desired formation. A distributed linear formation control strategy based on the complex Laplacian matrix is employed, which enables the robot agents to converge into a similar formation of the desired formation, and the size and orientation of the formation are determined by the positions of two leaders. Additionally, in order to ensure that all robot agents in the formation move at a common velocity, the distributed control approach also includes a velocity consensus component. Based on the realization of similar formation control of a multi-robot system, the path navigation algorithm is combined with it to realize the global navigation of the system as a whole. Furthermore, a controller enabling the scalability of the formation size is introduced to enhance the overall maneuverability of the system in specific scenarios like narrow corridors. The simulation results demonstrate the feasibility of the proposed approach.https://www.mdpi.com/1099-4300/25/11/1536complex Laplacianformation controlpath navigationmulti-robot systems |
| spellingShingle | Xiru Wu Rili Wu Yuchong Zhang Jiansheng Peng Distributed Formation Control of Multi-Robot Systems with Path Navigation via Complex Laplacian Entropy complex Laplacian formation control path navigation multi-robot systems |
| title | Distributed Formation Control of Multi-Robot Systems with Path Navigation via Complex Laplacian |
| title_full | Distributed Formation Control of Multi-Robot Systems with Path Navigation via Complex Laplacian |
| title_fullStr | Distributed Formation Control of Multi-Robot Systems with Path Navigation via Complex Laplacian |
| title_full_unstemmed | Distributed Formation Control of Multi-Robot Systems with Path Navigation via Complex Laplacian |
| title_short | Distributed Formation Control of Multi-Robot Systems with Path Navigation via Complex Laplacian |
| title_sort | distributed formation control of multi robot systems with path navigation via complex laplacian |
| topic | complex Laplacian formation control path navigation multi-robot systems |
| url | https://www.mdpi.com/1099-4300/25/11/1536 |
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