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3D Robots Formation Cooperative Control Using Efds: October 2018
3D Robots Formation Cooperative Control Using Efds: October 2018
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( ) ( )
( ) ( )
= × . (3)
̃( ) 0
1 1 Fig. 2. EFDs estimation based on a set of points coordinates.
Where ( ), ( ) and ̃ ( ) are the 3D planar curve
The estimated EFDs are used to reconstruct the 3D curve
points coordinates. The parameters of this latter 3D curve ,
in red color using (1). The IP function of the modeled curve
, , , , , , and are deduced from (3) by
above is too long to be carried in the paper.
identification with (1).
The EFDs is a very interesting mathematical tool to form III. FORMATION CONTROL STRATEGY
with high flexibility and to model any virtual planar 3D In this work, we consider the robot as a 3D mass point
curve, this latter could be considered as a geometrical particle to rend the formation control problem more
configuration for a group of robots. simplified. This latter assumption allows eliminating the
complexity related to the robot dynamics and its non-
holonomic constraints (i.e. UAVs) from the analysis, and
enables studying the efficiency and the feasibility of the The first component _ of (9) will be formulated based
proposed formation control approach. We first present the on the framework of [6] by using the IP of the desired
robot kinematic model and then we detail the formation formation shape (desired planar curve). This first component
control strategy. control input will ensures only the robot convergence to a
A. Robot Kinematic model virtual 3D curve which is parallel to the desired 3D curve as
it is shown in Fig. 3.
We opted for a 3D holonomic robot that is modeled as
point particle. The kinematic model for the robot in the
formation is given:
= ,.
,
= . (7)
= , .
Where , and are the velocities of the robot
in the x, y and z axis, respectively, with respect to the world
,
coordinate frame, and =[ , , , , ] is its
corresponding control input.
B. Formation control strategy
We assume that a 3D holonomics robots group moves in
a 3D space, where each robot position is given by
= [ ] . Initially, the robots are randomly
positioned in the defined space. Fig. 3. Sketch of the robots formation generation control.
The proposed robots formation control strategy consists The IP functions are adapted to find if a point is on a
of two stages. The first is to form a desired 3D planar curve or not. In the other side, the IP functions could be used
formation shape (geometric configuration), once the first to measure the distance between a point and a closed curve
stage is achieved, the second stage consists of controlling the [6]. The position error function between the robot and the
robots formation to move to predefined point (target) while 3D virtual planar curve is given by the algebraic distance to
keeping the achieved formation and eventually switching to a the curve using the implicit equation of the desired formation
new desired formation shape. During the two stages, robots shape as,
are expected to avoid collision between each other and to
keep certain coordination in the formation. Then, the input = ( , , ). (10)
control for the robot will be obtained by the sum of Based on (10), if the robot is approximately on the curve,
the control components designed for, the formation the error is zero, while it is negative when the robot is inside
generation or deployment control, coordination control and the curve and positive when outside. The control is designed
target reaching and formation switching control respectively. to force this error to decrease exponentially based on
, , , Lyaponov theory, i.e.
, + + _
, , , , =− . (11)
= = + + _ . (8)
, , , , Where is a positive number. Using (12) into the
+ + _ equation above yields
1) Formation generation control
We can define a 3D desired configuration for a group of ( , , )=− ( , , ). (12)
3D robots by many ways depending on the task to be Using chain rule of differentiation and substituting (7) in
realized. It could be the perimeter of a friend UAV or an (12), we find,
enemy target to be encircled or supervised or the boundary of
a considered geographical area. This boundary (desired 3D ,
_
curve) can be defined based on an extracted and processed ,
images provided by 3D robots onboard camera. The desired ( ) _ =− ( , , ). (13)
3D formation shape (3D curve) is in practice a sequence of ,
_
points, we use (5) to compute its EFDs and the method
detailed in[10] to compute its IP function. Based on Laponov theory, the optimal parallel generation
formation control _ for the robot can be determined
The generation formation control is composed of two using pseudo inverse, namely
components, parallel input _ and normal input _
respectively. ,
_ ( , , )
, , , ,
_ _ _ =− ( , , ) ( , , ) . (14)
, , , ∇ , ,
= = _ + _ . (9) ,
_
( , , )
, , ,
_ _
Where , and are the partial derivatives of Where is an adaptable spring constant. The desired
( , , ) with respect to x, y and z, ∇ = . coordination stiffness could be obtained by tuning .
Therefore, may take relatively grand values if the robots
The second generation control component _ is are far away from the desired configuration, while it takes
formulated so to converge the robot normally to the plane small values when the robots are reaching the desired
containing the desired 3D planar curve, see Fig. 3. In doing configuration.
so, the control input needs to be directed to the opposite We have p and q the indices for the robots that are the
direction of the surface’s normal unitary vector , while its
magnitude will be a function of the normal distance between nearest two neighbors of robot. and are the
the robot and the plane containing the desired curve. current distances of the robot from the and robots
respectively. ( ) and ( ) represent the
,
_ x, y and z position coordinates of the robots p and q with
, respect to the world coordinate frame.
_ = − 2 . (15)
, 3) Target reaching and switching control
_
Once the robots have achieved the desired formation
shape using (9) during the first stage, the control input for the
In (15), R is the rotation matrix from the coordinates
second stage will enable the robots formation reaching a
frame associated to the plane containing the 3D desired curve predefined point or target and eventually switching gradually
to the world coordinates frame, and is a positive number. to a new formation shape at any moment to deal with changes
We consider as the normal distance between the in the environment (i.e. facing an obstacle) or to respond to
robot and the plane containing the desired 3D curve. some mission requirements. This will be done by using
The control parameters and could be tuned in sort formation’s parametric representation (EFDs vectors).
satisfying non-holonomic constraints and/or to optimize a Based on the achieved robots position in the 3D curve, a
certain criteria (i.e. minimizing consumed energy), which is relative angle is assigned to each one,
not within the scope of this work. Thus, and since we opted
for a 3D holonome robots, we can take arbitrary positive ( )2
= (17)
values of the latter parameters to simulate and to check the
feasibility of the proposed formation controller.
Where ∈ [1, ], a robot index and M is the number of
2) Coordination control the points defining the desired 3D curve.
The robots are supposed to coordinate each to other in the
navigation task. Therefore, the robots must avoid collision
among themselves and ensuring a given desired spacing
between each robot and its neighbors, which enables also
having a certain distribution of the robots group in the
achieved formation shape. The coordination controller is
modeled as the sum of virtual forces of linear springs
exercised from each robot to its two nearest neighbors as in
Fig. 5. Robots assignement process.
Fig. 4[6].
Now, for a time-varying desired curve, we can use the
parametric representation EFDs to describe the robot’s
desired position,
∗
( )= ( )+∑ ( ( ) cos( )+ ( )sin ( ))
∗
( )= ( )+∑ ( ( ) cos( )+ ( )sin ( ))
∗
( )= ( )+∑ ( ( )cos( )+ ( )sin ( ))
(18)
The robots formation will be considered as virtual
Fig. 4. Modeling of coordination control. structure described by its EFDs, and the virtual leader of the
The spring is proposed to have a normal length which is robots formation will be considered as the center of the actual
equal to the desired distance . The produced force by the (achieved) formation shape [ ] and has a predefined
spring is linearly proportional to the difference between the path along to target, while the formation structure (3D
actual distance and the desired distance between the robots. desired curve) is time-varying along the leader path by using
The spring produces a force directed from from the robot the EFDs. The controller for this stage will be designed in
to its neighbor as below: order to keep the robots on the desired time-varying curve by
,
tracking the formation trajectory as shown in Fig.6.
− −
,
= − − + ( − ) − . (16)
,
− −
correctly and optimally achieving the desired curve 3D curve
achieving by three robots using (9).
,
∗
( ) _
∗ ,
_ = ( ) − _ (21) Fig. 7. 3D curve achieving by three robots using (9).
∗
( ) ,
_ Fig. 8 shows the evolution of the different control inputs
By substituting (21) into (20), the control for stage-2 is acting on the robots and their corresponding IP function
given, variation when achieving the desired formation (first stage).
We see that the control input (9) is acting on robots in sort of
, decreasing their corresponding IP function, which confirms
∗
_ ( ) the effectiveness of the control input based on Lyaponov
, ∗
_ = 3 _ + ( ) (22) theory. We can remark, that the coordination control
, ∗
( ) component is nil since the robots are too far each to other in
_ the achieved formation.
IV. SIMULATION RESULTS
The proposed approach was simulated in matlab, where
the simulation results could be obtained with any desired
EFDs and any number of robots. We validated the
implemented approach with two simulation scenarios. In the
first simulation, three robots are considered to check the
feasibility and efficiency of the proposed formation
generation control (stage-1). In the second simulation, eight
robots are employed to see the performances of the controller
in formation generation, coordination and target reaching
with switching to new formation shape.
The parameters used in the first simulations, d = 25 ,
= 1.4 and λ =1.1. The adaptable parameter used is,
2, ( , , ) <
= (23) Fig. 8. Control inputs acting on the three robots.
6, ( , , ) ≥
In the second simulation, the proposed formation control
Where = 15, is a limit algebraic distance. approach is applied to a group of eight robots. The trajectory
of the virtual leader is a straight line linking the initial robots
In Fig. 7, we can see a scenario when three robots placed
formation center to the target. The EFDs the of the first 3D
randomly in the space, where the desired curve is represented
desired curves in the second simulation is,
using EFDs with 2 harmonics and an IP function with a
degree of 4. The robots under the control input (9) are
= 85, = 85, = 40, = [16.2 − 0.89],
=[4.2 0.54], = [−2.76 − 3.3], =[9.9 − 2.1],
= [0 0] and = [0 0].
The IP function of the first desired 3D curve which has
been used in (9) is,
( , , )
= 10 − 5 ∗ 10 − 0.3 + 2 ∗ 10
+ 0.14 + 32.1 − 3.6 ∗ 10 − 0.04 Fig. 10. Control inputs acting on the three robots selected.
− 10.6 − 1.41 ∗ 10 + 5.2 ∗ 10 − 7.5 ∗ 10
+ 3.86 − 4.4 + 3073. V. CONCLUSION
The above equation doesn’t contain terms, because the We have presented a formation cooperative controller of
desired 3D planar curve (the red half-circle) is parallel to the 3D holonomic robots to form arbitrary desired 3D shapes
plane. (planar curves) and reaching a predefined target while
tracking time-varying configuration using EFDs and the
The virtual leader path and the desired time-varying implicit function of the formation shape. The proposed
EFDs to be tracked by the robots during the stage-2 is given, method introduces flexibility on the choice of desired shapes.
The obtained simulations results demonstrate the feasibility
( ) = 30 + , ( ) = 30 + , ( ) = 50 + . and effectiveness of the formation control.
( )= + /9, ( ) = + cos (2 /40), ( ) = , As perspectives, we think to extend the presented
( )= + , ( )= + 0.1 , and ( ) = + 4 . approach to surface based robots formation shape (i.e. sphere,
The parameters used in the second simulations are d = ellipsoid). Possible extension and implementation of this
5 , time step = 0.05 , = 0.8, λ =0.2 and λ =0.1. work with a group of Quad-copters is under scope taking in
consideration the robots dynamics and providing the whole
From Fig. 9, we see in the first stage, starting from theirs formation stability.
initial positions, the robots have achieved with success the
first desired formation shape (the red half-sphere) while VI. REFERENCE
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