Consensus Based Formation Control of Automated Guided Vehicles Using Dynamic Destination Approach

Consensus based control has proven to be simple and effective in addressing nonlinearity invoked by robot formation control in dynamic environments. This study proposes a dynamic destination approach to formation control of Automated Guided Vehicles (AGVs). The dynamic destination approach is combined with a modified consensus based control method to maintain the formation with modest deviation. A leader-follower formation control structure for multiple AGVs is adopted. The proposed methodology is testified using both differential drive and omnidirectional mobile robots. Simulation results show the robustness of the modified consensus based controller and the proposed dynamic destination approach.