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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全科多机器人系统的形成稳定

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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：本文在具有其自身稳定的轨迹跟踪控制器的每个机器人的假设下，使用相对距离测量使用相对距离测量的分散的形成稳定问题。这类由N非全建轮式移动机器人（WMRS）组成的NMRFS被认为是一种抽象系统，数学上描述了机器人之间的互连拓扑。基于一些关键稳定性结果，使用差分几何形状理论地衍生非完整NMRF的稳定，实现其渐近形成稳定性。此外，明显地定义了NMRFS中的设计问题，使得在NMRF中变化的形成参数或在线之间的互连结构可行。通过进行一次模拟来举例说明了所提出的方法的有效性。

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