Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Inverse Optimal Design of Formation/Velocity Consensus Protocol for Mobile Robots Based on LQ Inverse Optimal Second-order Consensus

LQ-역최적 2차 일치제어에 기반한 이동로봇에 대한 대형·속도일치 프로토콜의 역최적 설계

  • Lee, Jae Young (Department of Electrical & Electronic Engineering, Yonsei University) ;
  • Choi, Yoon Ho (Department of Electronic Engineering, Kyonggi University)
  • Received : 2014.12.02
  • Accepted : 2015.01.16
  • Published : 2015.05.01
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Abstract

In this paper, we propose an inverse optimal distributed protocol for the formation and velocity consensus of nonholonomic mobile robots. The communication among mobile robots is described by a simple undirected graph, and the mobile robots' kinematics are considered. The group of mobile robots driven by the proposed protocols asymptotically achieves the desired formation and group velocity in an inverse optimal fashion. The design of the protocols is based on dynamic feedback linearization and the proposed linear quadratic (LQ) inverse optimal second-order consensus protocol. A numerical simulation is given to verify the effectiveness of the proposed scheme.

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References

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