Cooperative Event Triggered Control for Multi-Robot Systems with Collision Avoidance

摘要

This paper investigates the safety critical control for multi-robot systems with event triggered mechanism and presents an algorithm to ensure the collision avoidance which satisfies safety constraints in the motion of robots. This is achieved by minimizing the difference between the actual and the nominal controllers subject to safety constraints. The barrier function-based constraints are then combined to formulate a quadratic programming problem which modifies the nominal controller when necessary to achieve both collision avoidance. Finally, a numerical simulation is provided to verify the effectiveness of the theoretical algorithm.