Multi-robot formation control using distributed null space behavioral approach
This paper presents a distributed formation control method for a group of robots. The global objective of achieving a desired formation is obtained by dividing it into a set of local objectives which are achieved in a distributed manner. A basic repetitive pattern in the desired formation is identif...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Conference Paper |
| Language: | English |
| Published: |
2015
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| Online Access: | https://hdl.handle.net/10356/79314 http://hdl.handle.net/10220/38530 |
| _version_ | 1811682981091213312 |
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| author | Ahmad, Shakeel Feng, Zhi Hu, Guoqiang |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Ahmad, Shakeel Feng, Zhi Hu, Guoqiang |
| author_sort | Ahmad, Shakeel |
| collection | NTU |
| description | This paper presents a distributed formation control method for a group of robots. The global objective of achieving a desired formation is obtained by dividing it into a set of local objectives which are achieved in a distributed manner. A basic repetitive pattern in the desired formation is identified and a corresponding unique differentiable task function is defined based on the position coordinates of the robots forming the pattern. Neighbor selection rules are designed for the robots in such a way that each robot is part of one or more such patterns. A singularity-robust task-priority inverse kinematics method is used to design velocity controllers to achieve these patterns. Since a robot can receive multiple control actions being part of multiple task functions or patterns, a distributed null space behavioral (NSB) approach is designed to combine such multiple control actions in a prioritized way. A comprehensive stability analysis of the proposed approach based on Lyapunov methods is presented. Simulation results are provided to verify the effectiveness of the proposed approach. |
| first_indexed | 2024-10-01T04:05:28Z |
| format | Conference Paper |
| id | ntu-10356/79314 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T04:05:28Z |
| publishDate | 2015 |
| record_format | dspace |
| spelling | ntu-10356/793142020-03-07T13:24:43Z Multi-robot formation control using distributed null space behavioral approach Ahmad, Shakeel Feng, Zhi Hu, Guoqiang School of Electrical and Electronic Engineering 2014 IEEE International Conference on Robotics and Automation (ICRA) DRNTU::Engineering::Electrical and electronic engineering::Satellite telecommunication This paper presents a distributed formation control method for a group of robots. The global objective of achieving a desired formation is obtained by dividing it into a set of local objectives which are achieved in a distributed manner. A basic repetitive pattern in the desired formation is identified and a corresponding unique differentiable task function is defined based on the position coordinates of the robots forming the pattern. Neighbor selection rules are designed for the robots in such a way that each robot is part of one or more such patterns. A singularity-robust task-priority inverse kinematics method is used to design velocity controllers to achieve these patterns. Since a robot can receive multiple control actions being part of multiple task functions or patterns, a distributed null space behavioral (NSB) approach is designed to combine such multiple control actions in a prioritized way. A comprehensive stability analysis of the proposed approach based on Lyapunov methods is presented. Simulation results are provided to verify the effectiveness of the proposed approach. MOE (Min. of Education, S’pore) Accepted version 2015-08-27T06:36:44Z 2019-12-06T13:22:20Z 2015-08-27T06:36:44Z 2019-12-06T13:22:20Z 2014 2014 Conference Paper Ahmad, S., Feng, Z., & Hu, G. (2014). Multi-robot formation control using distributed null space behavioral approach. 2014 IEEE International Conference on Robotics and Automation (ICRA), 3607-3612. https://hdl.handle.net/10356/79314 http://hdl.handle.net/10220/38530 10.1109/ICRA.2014.6907380 en © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [http://dx.doi.org/10.1109/ICRA.2014.6907380]. 6 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Satellite telecommunication Ahmad, Shakeel Feng, Zhi Hu, Guoqiang Multi-robot formation control using distributed null space behavioral approach |
| title | Multi-robot formation control using distributed null space behavioral approach |
| title_full | Multi-robot formation control using distributed null space behavioral approach |
| title_fullStr | Multi-robot formation control using distributed null space behavioral approach |
| title_full_unstemmed | Multi-robot formation control using distributed null space behavioral approach |
| title_short | Multi-robot formation control using distributed null space behavioral approach |
| title_sort | multi robot formation control using distributed null space behavioral approach |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Satellite telecommunication |
| url | https://hdl.handle.net/10356/79314 http://hdl.handle.net/10220/38530 |
| work_keys_str_mv | AT ahmadshakeel multirobotformationcontrolusingdistributednullspacebehavioralapproach AT fengzhi multirobotformationcontrolusingdistributednullspacebehavioralapproach AT huguoqiang multirobotformationcontrolusingdistributednullspacebehavioralapproach |