Formation Control Strategy of Multiple Mobile Robots Cooperative Operation Based on Backstepping Method

Abstract

A multi-shift tooling coordinated operation control strategy based on the backstepping method is investigated, a desired motion state planning scheme based on the improved artificial potential field method and the pure trajectory tracking method is proposed, and the actual situation is determined according to the adaptive Monte Carlo positioning method. For the estimated value of the motion state, a queue controller in combination the anti-stepping method and the virtual pilot following method is designed. A simulation model based on the robot operation system (ROS) environment is constructed, and the simulation is verified. The results show that the proposed formation error calculation method can improve the accuracy of error estimation. The formation control strategy can make the formation error converge within 6.2 s, and the designed formation controller can meet the operation requirements of multi-shift tooling.

Keywords

• formation control
• backstepping method
• movement state
• state estimation