Feedback control of many differential-drive robots with uniform control inputs

Robotics;Control;Multi-Robot Control;Feedback Control;Differential-Drive Robot;Unicycle Robot;Ensemble Control;Ensemble;Uniform Inputs

Onyuksel, Cem ; Bretl ; Timothy W.

关键词: Robotics;    Control;    Multi-Robot Control;    Feedback Control;    Differential-Drive Robot;    Unicycle Robot;    Ensemble Control;    Ensemble;    Uniform Inputs;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/34414/Onyuksel_Cem.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

We describe a method of feedback position control for an ensemble of robotswith unicycle kinematics under the constraint that every robot receives ex-actly the same global control inputs. Each robot in the ensemble scales itsgiven control inputs by a bounded model parameter and thus may achieve aturning rate and forward speed which are unique. Exploiting inhomogeneitiesin robot execution of control inputs, we derive a globally asymptotically sta-bilizing feedback control policy to regulate the position of each robot. Thispolicy scales linearly for any number of robots, and it stabilizes the systemasymptotically to the goal position even with Gaussian noise in actuation.Computer simulations and hardware experiments are used to validate the pol-icy. Additionally, we propose methods for trajectory tracking and obstacleavoidance. Finally, we show an example of multi-robot object manipulationand assembly.