Trajectory Tracking of Multi-Robot System Using a Singularity Approach

Singularity causes failure of cluster space control in a multi-robot system due to collisions between the robots. There are two methods offered to solve the singularity problem, namely the coupling method based on the angular velocities of the right and left wheels of the robot. The escaping singularity method based on the angular velocity of a single wheel. In this paper, the escaping singularity method is chosen because of its simpler implementation due to the need of one wheel only for angular velocity calculations. The escaping singularity controls is applied as a multi-robot control system in the cluster space. The multi-robot system consists of one leader and two followers that is in a nonrigid formation. The leader traverses the assigned trajectory, while the followers follow the leader's movement using cluster space to keep each other's distance. The simulation results show that the cluster space multi-robot system using escaping singularity controls can solve the singularity problem, even with additional disturbances applied to the leader with average error rates of 3.7213 m/s without disturbance and 3.8498 m/s with disturbance.