Formation Control Design on Multi-Omni Directional Mobile Robot with Collision Avoidance
Abstract
In this study, a distributed formation control was designed using multiple omni wheel robots (OMR) with the ability to avoid collisions between OMRs when forming a formation. The formation control employed a consensus algorithm consisting of four layers, namely the tracking, consensus, behavior, and the physical robot layer. The tracking layer was used to direct the OMR position at a predetermined virtual center. At the consensus layer, controllers were designed at the robot level. These controllers were an elaboration of the consensus algorithm. The behavior layer was used to augment the collision avoidance methods when OMR formed a formation using the Stipanovic method. On the physical robot layer, four OMRs with three omni wheels configurations were employed. Subsequently, the previously designed controllers were simulated using MATLAB software. The simulation results indicate that the controller applied to the OMR has succeeded in forming the desired formations, namely square and rhombus. In addition, during the process of building these formations, each OMR could maintain a distance; thus, there was no collision with various communication topologies and formations.
References
Y. Huang, Y. Zhang, dan H. Xiao, “Multi-Robot System Task Allocation Mechanism for Smart Factory,” Proc. 2019 IEEE 8th Jt. Int. Inf. Technol. Artif. Intell. Conf. (ITAIC 2019), 2019, hal. 587–591.
M. Alberri, S. Hegazy, M. Badra, M. Nasr, O.M. Shehata, dan E.I. Morgan, “Generic ROS-based Architecture for Heterogeneous Multi-Autonomous Systems Development,” 2018 IEEE Int. Conf. Veh. Electron. Safety, (ICVES 2018), 2018, hal. 1–6.
Y.G. Kim, J.H. Kwak, D.H. Hong, J.H. Ahn, S.G. Wee, dan J. An, “Localization Strategy based on Multi-Robot Collaboration for Indoor Service Robot Applications,” 2013 10th Int. Conf. Ubiquitous Robot. Ambient Intell. (URAI 2013), 2013, hal. 225–226.
S.N. Heo, S.Y. Lu, J.S. Shin, dan H.H. Lee, “Multi-Robot-Multi-Target Path Planning and Position Estimation for Disaster Area,” 2018 Int. Conf. Inf. Commun. Technol. Robot. (ICT-ROBOT 2018), 2018, hal. 1–4.
Y.P. Pane, S. Fuady, dan K. Mutijarsa, “Overtaking in Centralized Multi Robot Formation Control Based on Pedestrian Behavior,” Proc. - UKSim 15th Int. Conf. Comput. Model. Simulation (UKSim 2013), 2013, hal. 271–276.
J. Shao, G. Xie, J. Yu, dan L. Wang, “Leader-following Formation Control of Multiple Mobile Robots,” Proc. 20th IEEE Int. Symp. Intell. Control. (ISIC ’05), 13th Mediterr. Conf. Control Autom. (MED ’05), 2005, hal. 808–813.
X.X. Yang, G.Y. Tang, Y. Li, dan P.D. Wang, “Formation Control for Multiple Autonomous Agents Based on Virtual Leader Structure,” Proc. 2012 24th Chinese Control Decis. Conf. (CCDC 2012), 2012, hal. 2833–2837.
Z. Wang, L. Wang, H. Zhang, dan Q. Chen, “A Graph based Formation Control of Nonholonomic Wheeled Robots Using a Novel Edge-weight Function,” 2017 IEEE Int. Conf. Syst. Man, Cybern. (SMC 2017), 2017, hal. 1477–1481.
W. Ren dan N. Sorensen, “Distributed Coordination Architecture for Multi-Robot Formation Control,” Rob. Auton. Syst., Vol. 56, No. 4, hal. 324–333, 2008.
W. Ren dan R.W. Beard, Distributed Consensus in Multi-vehicle Cooperative Control, London, Inggris: Springer-Verlag, 2008.
J. Zhang, W. Wang, Z. Zhang, K. Luo, dan J. Liu, “Cooperative Control of UAV Cluster Formation Based on Distributed Consensus,” 2019 IEEE 15th Int. Conf. Control Autom., 2019, hal. 788–793.
L. Liu, X. Liang, C. Zhu, dan L. He, “Distributed Cooperative Control for UAV Swarm Formation Reconfiguration Based on Consensus Theory,” 2017 2nd Int. Conf. Robot. Autom. Eng. (ICRAE 2017), 2018, hal. 264–268.
A. Riid, D. Pahhomov, dan E. Rüstern, “Car Navigation and Collision Avoidance System with Fuzzy Logic,” IEEE Int. Conf. Fuzzy Syst., 2004, hal. 1443–1448.
S. Mastellone, D.M. Stipanović, C.R. Graunke, K.A. Intlekofer, dan M.W. Spong, “Formation Control and Collision Avoidance for Multi-agent Non-holonomic Systems: Theory and Experiments,” Int. J. Rob. Res., Vol. 27, No. 1, hal. 107–126, 2008.
P.F. Hokayem, D.M. Stipanović, dan M.W. Spong, “Coordination and Collision Avoidance for Lagrangian Systems with Disturbances,” Appl. Math. Comput., Vol. 217, No. 3, hal. 1085–1094, 2010.
M. Gavani, D. Tanpure, dan P. Falake, “Path Planning of Three Wheeled Omni-Directional Robot Using Bezier Curve Tracing Technique and PID control Algorithm,” 2019 IEEE Pune Sect. Int. Conf. (PuneCon 2019), 2019, hal. 1–6.
A. Phunopas dan S. Inoue, “Motion Improvement of Four-Wheeled Omnidirectional Mobile Robots for Indoor Terrain,” Proc. Int. Conf. Artif. Life Robot., Vol. 22, 2017, hal. 607–612.
Z. Sun dan Y. Xia, “Consensus-based Formation Control with Dynamic Role Assignment,” 26th Chinese Control Decis. Conf. (CCDC 2014), 2014, hal. 3681–3686.
© Jurnal Nasional Teknik Elektro dan Teknologi Informasi, under the terms of the Creative Commons Attribution-ShareAlike 4.0 International License.
1.png)
