کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Formation Control of Bicycle Model of Mobile Robots with Disturbance Using PID Controller

نویسندگان :

Amirhossein Rahmankhanloo¹ Saeed Khankalantary² Ali Akbar Vahedi³

1- K.N.Toosi University of Technology 2- K.N.Toosi University of Technology 3- Hojjat Fanavar Pajooh Company

کلمات کلیدی :

kinematic bicycle model of mobile robot،PID controller،Disturbance،Formation control

چکیده :

This study uses a leader-follower approach to explore trajectory tracking and formation control of mobile robots. A novel control framework integrates trajectory generation and internal PID-based control to achieve a triangular formation among three mobile robots. The robots are modeled using bicycle kinematics with steerable front and rear wheels, enhancing maneuverability. The desired path is transmitted to the leader robot, which tracks it using its internal controller. A second-order path-planning system generates trajectories for the follower agents, enabling them to maintain the triangular formation. To assess robustness, trajectory tracking under disturbance is evaluated for a single mobile robot. The results demonstrate the proposed system's ability to maintain formation accuracy and achieve precise path tracking across various trajectories, including straight-line, sinusoidal, and Lissajous paths. This framework offers a scalable and efficient solution for multi-agent formation control, paving the way for future applications in autonomous systems.