Multiple Nonholonomic Wheeled Mobile Robots Trajectory Tracking While Maintaining Time-Varying Formation via Synchronous Controller

摘要

A new synchronization control method is developed for multiple nonholonomic wheeled mobile robot path tracking while maintaining time-varying formations. Every robot is controlled to track its desired path while its movement is synchronized with nearby robots to maintain the desired time-varying formation. A new derivation for dynamic model of the nonholonomic wheeled mobile robot (WMR) is proposed based on the Lagrange methods. The robot model is divided into translational and rotational models, such that, each model will be controlled individually. Furthermore, synchronous controller for each robot's translation is developed to guarantee the asymptotic stability of both position and synchronization errors. In addition, an orientation controller is proposed to ensure that the robot is always oriented towards its desired position. The simulation results validate the effectiveness of the proposed synchronous controller in the formation control tasks.