Distributed Formation Control using Consensus for Multi Robot Humanoid

Abstract

Formation control in multi-robot is one of the problems widely studied and has a variety of methods solving with its own advantages and disadvantages. Distributed control has the advantage mainly because it does not require the coordination of which is determined by the agent only allowing rapid restructuring in the event of failure of one of the agents. Another advantage like saving computation power, amount of data transmitted over communication, and immunity to delay. In this research a distributed formation controller designed and implemented. Designed controller consists of a layer for tracking, layer for constructing the formation, and consensus layer that keep the error between each agent can be agreed upon so that a reference can be achieved together. To solve the problem of a bad odometry suffer by legged mobile robot caused by the slippage between the legs with a floor of visual odometry using the ceiling camera. The controller simulated using GNU-Octave software and implemented on a humanoid robot NAO by Aldebaran. Experiment demonstrate the controller is able to follow the desired reference.