Formation control of nonholonomic mobile robots and extended algorithms

我们已经开发了三个主题。（a）非全息移动机器人专门组织的控制算法，其中包括机器人中的碰撞。（b）根据正规机器人组的目标到达任务的运动控制算法， （c）在3D空间中组织非全息移动机器人的非全息移动机器人的设计，我们的雇员实际上是非全息移动机器人的线性化，并采取反向步骤控制输入的方法。另外，为了避免移动机器人之间的碰撞，拟议的控制策略由三个控制阶段组成;虚拟机器人跟踪控制（VR控制）、两个机器人之间的距离控制（l-l控制），以及三个机器人（l·ψ控制）。由于每个人的开发控制较低和设计过渡策略，我们有现实的目标来形成一个期望的形成概念，防止碰撞。当机器人在形成中移动时，我们必须考虑到碰撞而不仅仅是模拟。 ... More 不包括机器人，但也包括环境中的obstacles。如果机器人确实保持了它们的形成，它们在实际环境中的流动性就会减少，因为机器人的大小与一个单一的比较。为了缓解这个问题，我们开发了一个运动算法，该算法将机器人的变化与环境相结合。我们的雇员计算几何和潜力的算法--就像控制低。通过算法，机器人形式在自由空间和类似蛇的物体区域中稳定形成，我们在三维空间中扩展了一个非全息机器人群体的算法。我们有一个概念来保持结构和运动控制一组无人驾驶的水下自主车辆（UAV）。我们还开发了一个算法，以提取具有复杂海底拓扑结构的Delaunay测试的含义，以提取重要特性。我们用最大6个小型机器人来验证建议的方法的有效性，其中包括非全息性约束。Less（低）

We have developed following three topics. (a)Control algorithm for organizing specified formation by nonholonomic mobile robots, which considers collision avoidance among robots., (b)Motion control algorithm for goal-reaching task by the formed robot group, (c)Control and formation organization of nonholonomic mobile robots in 3D space.To organize desired formation among nonholonomic mobile robots, we employee exact linearization of nonlinear target system and back-stepping method to develop control input. Additionally, to avoid collisions among mobile robots, the proposed control strategy is composed three control stages ; virtual robot tracking control (VR control), distance control among two robots (l-l control), and that for three robots (l・ψ control). By developing each control low and designing transition strategy, we have realized the objective to form a desired formation considering collision avoidance.When robots move in a formation, we have to consider collisions not only amo … More ng robots but also with obstacles in an environment. If the robots exactly keep their formation, their mobility in actual environment decreases because the size of the robots is enlarged comparing with a single one. To relax the problem, we developed motion algorithm that the robots changes their formation according to the environment. We employee algorithms of computational geometry and potential-like control low. By the algorithm, the robot forms stable formation in free-space and snake-like one in obstacle regions.We have extended the algorithms for a nonholonomic robot group in 3D space. We have considered formation keeping and motion control for a group of Unmanned Underwater Autonomous Vehicles(UAV). We also developed an algorithm to extract important features to avoid collisions with complex submarine topology by means of Delaunay tessellation in computational geometry.We have verified the effectiveness of the proposed methods by carrying out computer simulations and experiments with maximum 6 car-like small robots, which have nonholonomic constraints. Less