Adaptive Desired Velocity Field Control for Cooperative Mobile Robotic Systems with Decentralized PVFC

Passive velocity field control (PVFC) was previously developed for mechanical systems which have strong coordination and must interact with the physical environment. Moreover, In our previous researches, the extended PVFC algorithm for multiple manipulator systems is also introduced. The methodology of PVFC and extended PVFC encode tasks using time invariant desired velocity fields instead of the more traditional method of time trajectories and guarantees that the closed loop system behave passively with environment power as the supply rate. This paper addresses an adaptive generation method of the desired velocity field for cooperative mobile robots with decentralized PVFC. Of course, this paper is a method of decentralized control algorithm for cooperative mobile robot systems handling a common object in a coordinated way. The proposed control method for cooperative mobile robots in constructed based on the extended PVFC in this paper. Moreover the stability and the boundedness are ensured using projection algorithm. Finally the effectiveness of proposed control method is examined by numerical simulation for cooperation tasks with two 3-wheeled mobile robot systems to consider our previous research.