Formation Reconfiguration Control of Multiple Mobile Robots with Severe Actuator Faults Based on GWO-WOA

doi:10.12382/bgxb.2023.0880

Abstract

Abstract:

A collaborative formation reconfiguration control strategy based on Grey Wolf Optimizer-Whale optimization algorithm (GWO-WOA) is proposed to solve the formation reconfiguration control problem of multi-robot systems with severe actuator failures. A fault observer is designed to detect the severe actuator failures in a multi-robot system, and cause the robots with severe actuator failures to leave the formation. Hungarian algorithm is used to allocate the positions of the remaining robots in the expected reconfiguration formation, and the GWO-WOA is used to plan the robots’ path. A collaborative formation reconfiguration control strategy is proposed, which includes three parts: consensus-based formation maintenance control, potential-energy-function-based collision avoidance control, and proportional-integral based tracking controller, enabling multiple robots to achieve formation reconfiguration without collision. The simulation experimental results show that the proposed formation reconfiguration control strategy can be used to monitor the faulty robots in real time and effectively prevent the robots from colliding with each other while forming a desired reconfiguration formation.

Key words: multiple mobile robot system, nonholonomic constraint, formation reconfiguration control, GWO-WOA, collision avoidance

CLC Number:

TP242.6

JU Shuang, WANG Jing, WANG Hao, ZHOU Meng. Formation Reconfiguration Control of Multiple Mobile Robots with Severe Actuator Faults Based on GWO-WOA[J]. Acta Armamentarii, 2023, 44(S2): 114-125.

Figures/Tables 17

Fig.1 Framework of collaborative formation control of multiple robots under actuator failure

Fig.2 Solution process of Hungarian algorithm

Fig.3 Process of GWO-WOA path planning

Table 1 Initial states of each robot

机器人	x/m	y/m	θ/rad
领导者	8.4	-17.5	0.52
跟随者1	11.3	-16.1	0.50
跟随者2	7.9	-16.3	0.37
跟随者3	6.9	-15.6	0.47
跟随者4	5.9	-16.2	0.58
跟随者5	6.2	-18.2	0.60
跟随者6	9.7	-17.3	0.51

Fig.4 Communication topology of multi-robot system

Fig.5 Initial expected formation of multi-robot system

Fig.6 Observation values of fault factors for Follower 3

Fig.7 Expected reconstructed formation of multi-robot system

Fig.8 Trajectories of all robots controlledby collaborative controller (52)

Fig.9 Error between the current position and the expected position of follower in x-direction

Fig.10 Error between the current position and the expected positionof follower in y-direction

Fig.11 Angle error between follower and leader

Fig.12 Spacing between robots

Fig.13 Formation maintain control input of followers

Fig.14 Collision avoidance control inputof followers

Fig.15 Path tracking control input of followers

Fig.16 Trajectories of all robots controlled by collaborative controller (54)

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