Inverse Optimal Design of Formation/Velocity Consensus Protocol for Mobile Robots Based on LQ Inverse Optimal Second-order Consensus
Jae Young Lee, Yoon Ho Choi · Journal of Institute of Control Robotics and Systems · 2015
In this paper, we propose an inverse optimal distributed protocol for the formation and velocity consensus of nonholonomic mobile robots. The communication among mobile robots is described by a simple undirected graph, and the mobile robots' kinematics are considered. The group of mobile robots driven by the proposed protocols asymptotically achieves the desired formation and group velocity in an inverse optimal fashion. The design of the protocols is based on dynamic feedback linearization and the proposed linear quadratic (LQ) inverse optimal second-order consensus protocol. A numerical simulation is given to verify the effectiveness of the proposed scheme.