It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a guiding vector field to guide multiple robots to follow possibly different desired paths while coordinating their motions. The vector field uses a path parameter as a virtual coordinate that is communicated among neighboring robots. Then, the virtual coordinate is utilized to control the relative parametric displacement between robots along the paths. This enables us to design a saturated control algorithm for a Dubins-car-like model. The algorithm is distributed, scalable, and applicable for any smooth paths in an n-dimensional configuration space, and global convergence is guaranteed. Simulations with up to fifty robots and outdoor experiments with fixed-wing aircraft validate the theoretical results.
Distributed coordinated path following using guiding vector fields
2021-10-01
Yao , W , Garcia de Marina , H , Sun , Z & Cao , M 2021 , Distributed coordinated path following using guiding vector fields . in 2021 IEEE Conference on Robotics and Automation (ICRA) . IEEE , pp. 10030-10037 , The 2021 International Conference on Robotics and Automation , Xi’an , China , 30/05/2021 . https://doi.org/10.1109/ICRA48506.2021.9560845
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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