Inverse optimal design of graphical formation control of mobile robots considering their kinematics and dynamics

Jae Young Lee; Yoon Ho Choi; Jin Bae Park

doi:10.1109/ICCAS.2015.7364804

Inverse optimal design of graphical formation control of mobile robots considering their kinematics and dynamics

Jae Young Lee, Yoon Ho Choi, Jin Bae Park

Department of Electrical and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, we propose an inverse optimal design method of a distributed graphical formation control of multiple mobile robots, where the group of robots configures the desired formation and moves with the same group velocity under the undirected graph topology. The robots' dynamics and kinematics are considered in the design. Under the assumption of perfect angular velocity tracking, the proposed protocol guarantees inverse optimality with respect to a meaningful cost function. Backstepping technique is employed to relax the assumption. Finally, the numerical simulation is carried out to verify the effectiveness of the proposed method.

Original language	English
Title of host publication	ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1166-1171
Number of pages	6
ISBN (Electronic)	9788993215090
DOIs	https://doi.org/10.1109/ICCAS.2015.7364804
Publication status	Published - 2015 Dec 23
Event	15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of Duration: 2015 Oct 13 → 2015 Oct 16

Publication series

Name	ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings

Other

Other	15th International Conference on Control, Automation and Systems, ICCAS 2015
Country	Korea, Republic of
City	Busan
Period	15/10/13 → 15/10/16

All Science Journal Classification (ASJC) codes

Control and Systems Engineering

Access to Document

10.1109/ICCAS.2015.7364804

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Lee, J. Y., Choi, Y. H., & Park, J. B. (2015). Inverse optimal design of graphical formation control of mobile robots considering their kinematics and dynamics. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings (pp. 1166-1171). [7364804] (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAS.2015.7364804

Lee, Jae Young ; Choi, Yoon Ho ; Park, Jin Bae. / Inverse optimal design of graphical formation control of mobile robots considering their kinematics and dynamics. ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1166-1171 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings).

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title = "Inverse optimal design of graphical formation control of mobile robots considering their kinematics and dynamics",

abstract = "In this paper, we propose an inverse optimal design method of a distributed graphical formation control of multiple mobile robots, where the group of robots configures the desired formation and moves with the same group velocity under the undirected graph topology. The robots' dynamics and kinematics are considered in the design. Under the assumption of perfect angular velocity tracking, the proposed protocol guarantees inverse optimality with respect to a meaningful cost function. Backstepping technique is employed to relax the assumption. Finally, the numerical simulation is carried out to verify the effectiveness of the proposed method.",

author = "Lee, {Jae Young} and Choi, {Yoon Ho} and Park, {Jin Bae}",

year = "2015",

month = dec,

day = "23",

doi = "10.1109/ICCAS.2015.7364804",

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series = "ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings",

address = "United States",

note = "15th International Conference on Control, Automation and Systems, ICCAS 2015 ; Conference date: 13-10-2015 Through 16-10-2015",

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Lee, JY, Choi, YH & Park, JB 2015, Inverse optimal design of graphical formation control of mobile robots considering their kinematics and dynamics. in ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings., 7364804, ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 1166-1171, 15th International Conference on Control, Automation and Systems, ICCAS 2015, Busan, Korea, Republic of, 15/10/13. https://doi.org/10.1109/ICCAS.2015.7364804

Inverse optimal design of graphical formation control of mobile robots considering their kinematics and dynamics. / Lee, Jae Young; Choi, Yoon Ho; Park, Jin Bae.

ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1166-1171 7364804 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AB - In this paper, we propose an inverse optimal design method of a distributed graphical formation control of multiple mobile robots, where the group of robots configures the desired formation and moves with the same group velocity under the undirected graph topology. The robots' dynamics and kinematics are considered in the design. Under the assumption of perfect angular velocity tracking, the proposed protocol guarantees inverse optimality with respect to a meaningful cost function. Backstepping technique is employed to relax the assumption. Finally, the numerical simulation is carried out to verify the effectiveness of the proposed method.

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Lee JY, Choi YH, Park JB. Inverse optimal design of graphical formation control of mobile robots considering their kinematics and dynamics. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1166-1171. 7364804. (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). https://doi.org/10.1109/ICCAS.2015.7364804