Distributed Formation Control using Consensus for Multiple Humanoid Robots

Oetomo Oetomo, Bambang Trilaksono Riyanto

Abstract


Formation control in multi-robot is one of the problems widely studied and variety of methods have been developed with their own advantages and disadvantages. Distributed control has the advantage in that it does not require centralized coordination, allowing rapid restructuring in the event of failure of one of the agents. Another advantages include saving computation power, amount of data transmitted over communication, and immunity to delay. In this research a distributed formation controller is designed and implemented in humanoid robots. The distributed controller is designed consisting of layer for tracking, layer for constructing the formation, and consensus layer that keeps the error between each agent can be agreed upon so that a reference can be achieved together. To solve the problem of bad odometry suffered by legged mobile robot caused by the slip between the legs with a floor, visual odometry is employed using the ceiling camera. The control system is simulated using GNU-Octave software and implemented on humanoid robots NAO from Aldebaran. Experiment demonstrates that the distributed controllers are able to closely follow the desired reference.

Keywords


consensus; formation control; humanoid robot; communication topology

Full Text:

PDF

References


Ren, Wen and R.W. Beard. (2008). “Distributed Consensus In Multi-vehicle Cooperative Control: Theory and Applications”. Springer-Verlag, London.

Olfati-Saber, R., & Richard, S. (2003). “Flocking with Obstacle Avoidance: Cooperation with Limited Communication in Mobile Networks”. Proceedings of the 42nd IEEE Conf. On Decision and Control. Maui, USA. p2022-2028.

Reynolds, C. W. “Flocks, Herds and Schools : A Distributed Behavioral Model”. Computer Graphics, 21(4), 25-34, 1987.

Jung, Jin Hong, Sujin Park, Seong-Lyun Kim (2010). “Multi-Robot Path Finding with Wireless Multihop Communications”. IEEE Communication Magazine, July 2010.

Feng, S., & Zhang, H. (2011). “Formation Control for Wheeled Mobile Robots Based on Consensus Protocol”, Proceedings: IEEE Int'l Conf. on Information and Automation. Shenzhen, China. pp. 696-700.

Oriolo, Giuseppe, Antonio Paulillo, Lorenzo Rosa and Marilena Vendittelli . (2012). “Vision-Based Odometric Localization for Humanoids using a Kinematic EKF”. Proceedings of 12th IEEE-RAS Int'l Conf. on Humanoid Robots. Osaka, Japan. pp. 153-158.

Oriolo, Giuseppe, Antonio Paulillo, Lorenzo Rosa and Marilena Vendittelli . (2013). “Vision-Based Trajectory Control for Humanoids Navigation”. Proceedings of 13th IEEE-RAS Int'l Conf. on Humanoid Robots. Atlanta, USA. pp. 118-123.


Refbacks

  • There are currently no refbacks.




Creative Commons License
This work is licensed under a Creative Commons Attribution 3.0 License.