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首页> 外文会议>2014 IEEE International Conference on System Science ang Engineering >Formation stabilization of nonholonomic multi-robot systems using relative distance measurements
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Formation stabilization of nonholonomic multi-robot systems using relative distance measurements

机译：使用相对距离测量的非完整多机器人系统的编队稳定

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This paper addresses the decentralized formation stabilization issues using relative distance measurements for a class of nonholonomic multi-robot formation systems (NMRFS) under the assumption of each robot having its own stable trajectory tracking controller. This class of NMRFS, composed by n nonholonomic wheeled mobile robots (WMRs), is regarded as an abstracted system which mathematically describes the interconnect topology among the robots. Based on some critical stability results, the stabilization of the nonholonomic NMRFS are theoretically derived using differential geometry and its asymptotical formation stability is achieved. In addition, the design issue in the NMRFS with respect to the interconnection and formation stability is distinctly defined so that the changing formation parameters or interconnected structures on-line become practicable in the NMRFS. The effectiveness of the proposed methods is exemplified by conducting one simulation.
机译：本文假设一台非完整的多机器人编队系统（NMRFS）使用相对距离测量来解决分散编队稳定问题，假设每个机器人都有自己的稳定轨迹跟踪控制器。由n个非完整的轮式移动机器人（WMR）组成的此类NMRFS被视为一种抽象系统，可以用数学方式描述机器人之间的互连拓扑。基于一些关键的稳定性结果，理论上使用微分几何导出了非完整NMRFS的稳定性，并获得了其渐近形成的稳定性。此外，在NMRFS中关于互连和形成稳定性的设计问题得到了明确的定义，因此在NMRFS中可以在线更改不断变化的形成参数或互连结构。所提出的方法的有效性通过进行一次仿真得到例证。

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