Robust Collision-Avoidance Formation Navigation of Velocity and Input-Constrained Multirobot Systems
针对速度和输入受限的多机器人团队在障碍物密集环境中安全移动的问题，提出一种基于鲁棒控制屏障函数的方法，利用预定义时间收敛观测器和局部二次优化实现避碰编队导航。
In this work, we consider the safe deployment problem of multiple robots in an obstacle-rich complex environment. When a team of velocity and input-constrained robots is required to move from one area to another, a robust collision-avoidance formation navigation method is needed to achieve safe transferring. The constrained dynamics and the external disturbances make the safe formation navigation a challenging problem. A novel robust control barrier function-based method is proposed which enables collision avoidance under globally bounded control input. First, a nominal velocity and input-constrained formation navigation controller is designed which uses only the relative position information based on a predefined-time convergent observer. Then, new robust safety barrier conditions are derived for collision avoidance. Finally, a local quadratic optimization problem-based safe formation navigation controller is proposed for each robot. Simulation examples and comparison with existing results are provided to demonstrate the effectiveness of the proposed controller.