In this paper, an improved Null Space behavior control of a team of non-holonomic robots that maintains timevarying formations is presented. The task functions: (a) are combined considering the non-holonomic constraints, (b) are designed such that each robot tracks its desired trajectory by synchronizing its motion with the other robots motion, (c) maintain the kinematics relationships required by the formation, (d) include synchronization constraints and synchronization errors, which are a measurement of the formation realization degree that is used to generate suitable actions to reach the goal formation, and (e) are in charge of orientating the robot towards its desired position during shape switching. In order to ensure the operation of the controller, a Takagi-Sugeno (TS) fuzzy system is implemented to keep the task functions solutions below the saturation values determined by the actuators of the differential mobile robots. Finally, simulations and experiments are performed to demonstrate the effectiveness of the proposed Null Space behavior control for non-holonomic robots approach in formation control tasks.
formation control; inverse kinematics; null space based behaviour control.
Gustavo QUINTANA-CARAPIA, Jorge S. BENÍTEZ-READ, J. Armando SEGOVIA-DE-LOS-RÍOS, Mayra P. GARDUÑO-GAFFARE, "TS Fuzzy Null-Space Behavior Control of Non-Holonomic Robot Formations", Studies in Informatics and Control, ISSN 1220-1766, vol. 24(2), pp. 211-220, 2015. https://doi.org/10.24846/v24i2y201509
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