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Controlling Swarms of Mobile Robots for Switching between Formations Using Synchronization Concept

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2 Author(s)
Dong Sun ; Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Hong Kong. Tel: (852) 2788-8405, Fax: (852) 2788-8423, Email: ; Can Wang

This paper presents a synchronous control approach to swarms of mobile robots in switching between formations. According to the desired formation, a synchronization control goal is derived, based on which the position synchronization error is defined as differential position errors between very pair of two neighboring robots. A decentralized trajectory tracking controller is then developed with feedback of both position and synchronization errors, formed with a combination of feedforward and feedback controls. It is proven that this tracking controller can asymptotically converge both position and synchronization errors to zero. Simulations are performed on a group of twenty fully-actuated mobile robots in a switching task between different ellipse curves. The simulation results demonstrate the effectiveness of the proposed synchronous control design for the formation control.

Published in:

Proceedings 2007 IEEE International Conference on Robotics and Automation

Date of Conference:

10-14 April 2007