Cooperative particle swarm optimization-based predictive controller for multi-robot formation

Abstract

In this paper, cooperative particle swarm optimization (CPSO)-based model predictive control (MPC) scheme is proposed to deal with the formation control problem of multiple nonholonomic mobile robots. In distributed MPC framework, control input of each robot needs to be optimized over a finite prediction interval considering control inputs of the other robots, where the objective function is coupled by the state variables of the neighboring robots. To solve the optimization problem on a prediction interval, we present a modified CPSO algorithm which finds a Nash equilibrium between multiple robots. Simulations are performed on a group of nonholonomic mobile robots to demonstrate the effectiveness of the proposed MPC scheme incorporating CPSO. © 2013 Springer-Verlag.