摘要
This paper studies the formation control problem for a group of nonholonomic mobile robots with unknown orientations,where all follower robots are treated as identical and anonymous without requiring direct access to the leader's state information.Different from existing formation control methods,a novel observer-based formation control strategy is proposed to remove the requirement of the global position and orientation measurement,which is fully distributed.An orientation observer and a distributed observer are designed for the follower to estimate their orientations and the leader's state,based on which a dynamic feedback linearisation controller is developed to achieve the formation objective for mobile robots with unknown orientations.Notably,each follower robot relies solely on local relative position measurement and communication from its neighbours to maintain a desired formation pattern within a directed graph network.Finally,simulation results and comparisons verify the effectiveness and advantages of the proposed control scheme.
基金
supported in part by the National Key R&D Program of China(2024YFB4707401)
the National Natural Science Foundation of China(62173029,62273033,62273191,U1966202,62233015)
the Fundamental Research Funds for the Central Universities China(FRF-BD-19-002A).
