비홀로노믹 이동로봇의 군집제어를 위한 분산형 역최적 프로토콜 설계

In this paper, we propose an inverse optimal distributed protocol for formation control of nonholonomic mobile robots. The communication among the robots are described by a simple undirected graph, and the robot’s kinematics and its transformation method are used in the design of the formation protocol. By mathematical analysis, it is shown that the proposed protocols drive the robots to shape a desired formation with a predefined group velocity and minimize the meaningful performance index. Finally, a numerical simulation is performed to verify the effectiveness of the proposed method.