Coordinated Planar Path-Following Control for Multiple Nonholonomic Wheeled Mobile Robots
本文研究多台非完整轮式移动机器人的协调路径跟踪控制，通过解耦纵向和横向控制，并引入追逐等待策略，提高了协调鲁棒性，适用于注入路径和圆形路径。
This article is concerned with both consensus and coordinated path-following control for multiple nonholonomic wheeled mobile robots. In the design, the path-following control is decoupled into the longitudinal control (speed control) and the lateral control (heading control) for the convenience of implementation. Different from coordinated trajectory tracking control schemes, the proposed control scheme removes the temporal constraint, which greatly improves the coordination robustness. In particular, two new coordinated error variables describing a chasing-and-waiting strategy are introduced in the proposed coordinated path-following control for injective paths and circular paths, respectively. All the closed-loop signals have proved to be asymptotically stable in the Lyapunov sense. Finally, simulation results under three typical paths are presented to verify the proposed coordination controllers.