TY - JOUR
T1 - Cooperative Following of Multiple Autonomous Robots Based on Consensus Estimation
AU - Kong, Guojie
AU - Cai, Jie
AU - Gong, Jianwei
AU - Tian, Zheming
AU - Huang, Lu
AU - Yang, Yuan
N1 - Publisher Copyright:
© 2022 by the authors.
PY - 2022/10
Y1 - 2022/10
N2 - When performing a specific task, a Multi-Agent System (MAS) not only needs to coordinate the whole formation but also needs to coordinate the dynamic relationship among all the agents, which means judging and adjusting their positions in the formation according to their location, velocity, surrounding obstacles and other information to accomplish specific tasks. This paper devises an integral separation feedback method for a single-agent control with a developed robot motion model; then, an enhanced strategy incorporating the dynamic information of the leader robot is proposed for further improvement. On this basis, a method of combining second-order formation control with path planning is proposed for multiple-agents following control, which uses the system dynamic of one agent and the Laplacian matrix to generate the consensus protocol. Due to a second-order consensus, the agents exchange information according to a pre-specified communication digraph and keep in a certain following formation. Moreover, an improved path planning method using an artificial potential field is developed to guide the MAS to reach the destination and avoid collisions. The effectiveness of the proposed approach is verified with simulation results in different scenarios.
AB - When performing a specific task, a Multi-Agent System (MAS) not only needs to coordinate the whole formation but also needs to coordinate the dynamic relationship among all the agents, which means judging and adjusting their positions in the formation according to their location, velocity, surrounding obstacles and other information to accomplish specific tasks. This paper devises an integral separation feedback method for a single-agent control with a developed robot motion model; then, an enhanced strategy incorporating the dynamic information of the leader robot is proposed for further improvement. On this basis, a method of combining second-order formation control with path planning is proposed for multiple-agents following control, which uses the system dynamic of one agent and the Laplacian matrix to generate the consensus protocol. Due to a second-order consensus, the agents exchange information according to a pre-specified communication digraph and keep in a certain following formation. Moreover, an improved path planning method using an artificial potential field is developed to guide the MAS to reach the destination and avoid collisions. The effectiveness of the proposed approach is verified with simulation results in different scenarios.
KW - autonomous robots
KW - consensus estimation
KW - target tracking and following
UR - http://www.scopus.com/inward/record.url?scp=85140765061&partnerID=8YFLogxK
U2 - 10.3390/electronics11203319
DO - 10.3390/electronics11203319
M3 - Article
AN - SCOPUS:85140765061
SN - 2079-9292
VL - 11
JO - Electronics (Switzerland)
JF - Electronics (Switzerland)
IS - 20
M1 - 3319
ER -