NDLI: Three time scale behaviour analysis of the Leader Follower formation of multiple groups of nonholonomic robots

Content Provider	IEEE Xplore Digital Library
Author	Sarkar, S. Kar, I.N.
Copyright Year	2015
Description	Author affiliation: Dept. of Electr. Eng., Indian Inst. of Technol. Delhi, New Delhi, India (Sarkar, S.) \|\| Fac. of Electr. Eng., Indian Inst. of Technol. Delhi, New Delhi, India (Kar, I.N.)
Abstract	Formation control of multiple groups of agents finds application in generating different geometric patterns and shapes for wide area navigation, and also in locking known static or moving objects. Our previous work [30] entails defining a topology to capture the constraint relationship among multiple groups of robots by means of Centroid Based Transformation (CBT). The calculation of centroid requires information of all the robots of all the groups. In an attempt to reduce the communication overhead, we define a Leader Follower based topology, here in this paper, and introduce Leader Follower Based Transformation (LFT) for multiple groups of robots. LFT decomposes the collective dynamics of nonholonomic wheeled mobile robots into intra and inter group shape variables, and overall leader of the group. This hierarchy gives the flexibility to design separate control laws for intra group, inter group shape variables, and the tracking control of the leader. A new control law has been proposed such that the overall error dynamics becomes singularly perturbed system. Three time scale convergence of the error dynamics, has been achieved by selecting suitable controller gains, and also order of the system is significantly reduced after the convergence of the intra and inter group shape variables. Negative gradient of a potential based function has been added to the controller to ensure collision avoidance among the agents. Simulation results has been provided to demonstrate the effectiveness of the proposed controller.
Starting Page	44
Ending Page	49
File Size	390563
Page Count	6
File Format	PDF
e-ISBN	9781479986842
DOI	10.1109/ACC.2015.7170709
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-01
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Shape Collision avoidance Mobile robots Lyapunov methods Robot kinematics Erbium
Content Type	Text
Resource Type	Article

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