Decentralized Formation Control of Multiple Omnidirectional Mobile Robots

In this paper, a decentralized control algorithm to formthe desired geometric arrangement by group of threewheelOmni-directional robots, in an unknownenvironment is addressed. Approaching this purpose,using the concepts of weighted graph, the weightfunctions corresponding to the edges are designed fordesired formation and obstacle avoidance. Then, slidingmode control (SMC) approach is used to design a lowerlevel controller of each robot. Also, to avoid fromtrapping of the agents in local minimums that lead to theformation of an undesirable arrangement, the virtualrelabeling algorithm has been developed in the structureof the proposed control algorithm. To examine theproposed control algorithm, an analytical proof andnumerical simulation results are presented accordingly.

کلیدواژه ها:

Weighted graph ، Formation control ، Omnidirectionalrobot ، Sliding mode control ، Virtual relabeling