相対位置計測に基づく差動駆動ロボット編隊の分散幾何最適化と制御
Distributed Geometric Optimization and Control of Rigid Differential-Drive Formations from Relative-Position Measurements
アンカー1台・絶対方位・相対位置計測のみを用い、差動駆動ロボット群の形状・位置・向きを分散最適化で同時制御する推定制御手法を提案し、ROS 2 Gazeboと5台の実機で検証した。
著者: Thanacha Choopojcharoen, Erman Selim, Ramisha Anjum, Baris Fidan
分類: eess.SY, cs.RO, math.OC
原文アブストラクト
Distance based formation control fixes the shape of a robot team but leaves its position and orientation unconstrained. We regulate all three for differential drive robots that have only one absolute position anchor, absolute headings, body frame relative position measurements, and communication with their neighbors. We derive a two layer estimation control scheme directly from optimization. The first half of the result is a set of graph-proximal estimators that reconstruct the centroid, the anchor vector, and the centered coordinates. Exact proximal updates reach consensus in finitely many steps, and a finite number of primal dual iterations leaves a bounded reconstruction error. The controller combines proximal centroid and orientation steps with distance gradient shape regulation, and a finite rotation removes the orientation drift caused by the shape step. A discrete Lyapunov analysis gives local exponential convergence once the estimators have converged. We validate the method in ROS 2 Gazebo and in experiments with five physical robots.