关键词: 编队控制, 多移动机器人, 迭代学习控制, 领航-跟随型, 任意初始位置

Abstract:

In order to solve the formation and maintenance of mobile robots, an iterative learning formation control algorithm for arbitrary initial position is proposed. Using the leader-following formation, the follower’s reference track is derived by using only the leader’s trajectory and the desired formation, and the Iterative Learning Control（ILC） is introduced to design the follower’s control law. It enables the follower to adjust its own line speed and angular velocity with each iteration, and works with the leader in the desired formation. It introduces the learning of the initial position, that is, the formation and the initial position learning simultaneously. The problem that the mobile robot of any initial position forms and maintains a desired formation formation is solved. The feasibility of the control algorithm is analyzed theoretically. The simulation results verify the effectiveness of the control algorithm.

Key words: formation control, multi-mobile robots, iterative learning control, leader-follower, arbitrary initial position