PSO Based Formation Maneuvering with Orientation Control of Multi Robotic Vehicles

摘要

This paper proposes a control law for the formation maneuvering incorporating orientation control of non-holonomic mobile robotic vehicles. Formation maneuvering controller ensures that robotic vehicles simultaneously acquire a formation and move as a single unit following a predefined trajectory. The kinematic control law for maneuvering is derived by incorporating Lyapunov based integral back stepping method along with rigid graph approach, thereby ensuring stability. Orientation controller is then implemented to make the orientation error of the mobile robotic vehicles to zero. The optimum values of controller gains for formation maneuvering and orientation control are obtained using Particle Swarm Optimization (PSO). PSO based optimization technique helps to reduce the integral squared error in maneuvering. The performance of the multi robotic vehicles with the proposed controller is demonstrated through simulation results.