The method of synergetic control for a group of homogeneous transport robots to solve formation tasks

摘要

We explore the problem of synergetic control law design for a group of mobile robots. To solve this problem we present the new approach to control of a group of mobile robot based on principals and methods of synergetic control theory. The design of group control synergistic transport robots is considered with the analysis of mathematic model and with specified aim. In the theory of synergetic control the set of criteria for the control system is usually expressed in the form of an appropriate system of invariants. Invariants play the role of control objectives, which are enforced a given technological problem, and the synergetic synthesis procedure reduces to process of finding the control laws on which these given invariants are satisfied. The synthesized control laws provide an asymptotically stable movement of a group of mobile robots with specified type of formation.