Adaptive kinematic control of robot tracking

摘要

This paper presents a distributed robust adaptive controller for multiple mobile robots engaged in cooperative tracking and capturing of moving target object. The proposed controller guarantees asymptotic convergence of distributed multi-robot locations to the desired distance enclosing the moving target object. In the distributed controller, linear and angular velocity inputs are generated by using only the local data of robot position and orientation and estimated velocity of virtual reference model for target object. The synthesized controller is shown to be globally and asymptotically stable through theoretical proof and simulation with multiple mobile robots.