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

Jae Young Lee, Yoon Ho Choi, Jin Bae Park

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1166-1171
Number of pages6
ISBN (Electronic)9788993215090
DOIs
Publication statusPublished - 2015 Dec 23
Event15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of
Duration: 2015 Oct 132015 Oct 16

Publication series

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

Other

Other15th International Conference on Control, Automation and Systems, ICCAS 2015
CountryKorea, Republic of
CityBusan
Period15/10/1315/10/16

Fingerprint

Mobile robots
Kinematics
Robots
Backstepping
Angular velocity
Cost functions
Topology
Computer simulation
Optimal design

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Cite this

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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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 proceedingConference 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