Design of Distributed Suboptimal Controller for Formation of a Group of Nonholonomic Mobile Robots in the presence of Environmental Obstacles

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Rashidi Ali Jabar; KARIMI BAHRAM; Khodaparast ayoub

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Paper Information

Journal: JOURNAL OF MECHANICAL ENGINEERING Year:2020 | Volume:50 | Issue:3 (92) Page(s): 77-86

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Information Journal Paper

Title

Design of Distributed Suboptimal Controller for Formation of a Group of Nonholonomic Mobile Robots in the presence of Environmental Obstacles

Author(s)

Rashidi Ali Jabar | KARIMI BAHRAM | Khodaparast ayoub | Issue Writer Certificate

Keywords

Distributed suboptimal control

Formation

Non-holonomic mobile robot

Graph theory

Obstacle avoidance

Abstract

This paper is concerned with the controller design for Formation of a group of Non-holonomic mobile robots based on distributed suboptimal method in the presence of environmental obstacles. Formation control of mobile robots is one of the important aspects in group movement and cooperative behavior of multi-agent systems. Challenges and constraints on procedure mechanisms and unknown dynamic environments have made the control process of such systems more complicated. In this study, integrated leaderfollower method and behavioral approach also for each of the desired behaviors including geometrical Formation, trajectory tracking and obstacle collision avoidance, a cost function and a Formation error dynamic equation are defined as constraints. The main goal in the present paper is to design an optimum control law for the robots applicable to the whole constraints and limits of the problem while minimizing certain criterion. The present research study also presents a stability analysis to show the closed loop system is stable and works optimally. The simulation results illustrate the effectiveness and efficient performance of the proposed suboptimal control law design.

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APA: Copy

Rashidi, Ali Jabar, KARIMI, BAHRAM, & Khodaparast, ayoub. (2020). Design of Distributed Suboptimal Controller for Formation of a Group of Nonholonomic Mobile Robots in the presence of Environmental Obstacles. JOURNAL OF MECHANICAL ENGINEERING, 50(3 (92) ), 77-86. SID. https://sid.ir/paper/269850/en

Vancouver: Copy

Rashidi Ali Jabar, KARIMI BAHRAM, Khodaparast ayoub. Design of Distributed Suboptimal Controller for Formation of a Group of Nonholonomic Mobile Robots in the presence of Environmental Obstacles. JOURNAL OF MECHANICAL ENGINEERING[Internet]. 2020;50(3 (92) ):77-86. Available from: https://sid.ir/paper/269850/en

IEEE: Copy

Ali Jabar Rashidi, BAHRAM KARIMI, and ayoub Khodaparast, “Design of Distributed Suboptimal Controller for Formation of a Group of Nonholonomic Mobile Robots in the presence of Environmental Obstacles,” JOURNAL OF MECHANICAL ENGINEERING, vol. 50, no. 3 (92) , pp. 77–86, 2020, [Online]. Available: https://sid.ir/paper/269850/en

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