A decentralized receding horizon optimal approach to formation control of networked mobile robots. (20th June 2017)

• Record Type: Journal Article
• Authors: Hosseinzadeh Yamchi, Mohammad; Mahboobi Esfanjani, Reza
• Is Part Of: Optimal control applications and methods. Volume 39:Number 1(2018)
• Page Start: 51
• Page End: 64
• Publication Date: 2017-06-20
• Subjects: collision avoidance -- communication delays -- decentralized control -- guaranteed stability -- multirobot formation -- receding horizon optimal control; Control theory -- Periodicals; Mathematical optimization -- Periodicals; 629.8312
• DOI: 10.1002/oca.2333
• Languages: English
• ISSNs: 0143-2087

Abstract

Summary: This paper presents a receding horizon optimal controller with guaranteed stability for multirobot formation, taking into account collision and obstacle avoidance. The proposed scheme is based on synchronous decentralized strategy wherein all the vehicles that are connected via a packed‐delaying network solve a finite horizon–constrained optimal control problem to obtain their own control action at each sampling instant. First, each robot is modeled by a single integrator dynamics; then, by defining a control law for each robot and considering the effect of communication delay, the closed‐loop dynamics is described as a delay differential equation with tunable parameters. Afterwards, a novel finite‐horizon optimal control setup is established to obtain these adjustable gains such that a desirable formation is achieved. The efficiency and applicability of the suggested scheme are demonstrated by simulation results.