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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Distributed coordinated path following using guiding vector fields


    Beteiligte:
    Yao, Weijia (Autor:in) / Garcia de Marina, Hector (Autor:in) / Sun, Zhiyong (Autor:in) / Cao, Ming (Autor:in)

    Erscheinungsdatum :

    2021-10-01


    Anmerkungen:

    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



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629




    Guiding Vector Fields for the Distributed Motion Coordination of Mobile Robots

    Yao, Weijia Yao / Garcia de Marina Peinado, Hector / Sun, Zhiyong et al. | BASE | 2023

    Freier Zugriff

    A guiding vector field algorithm for path following control of nonholonomic mobile robots

    Kapitaniuk, Iurii / Proskurnikov, Anton / Cao, Ming | BASE | 2018

    Freier Zugriff

    On Coordinated Road Search Using Time-Coordinated Path Following of Multiple UAVs

    Dobrokhodov, V. / Kaminer, I. / Jones, K. et al. | British Library Conference Proceedings | 2010


    Synthesis of Distributed Control of Coordinated Path Following Based on Hybrid Approach

    Lan, Ying / Yan, Gangfeng / Lin, Zhiyun | Tema Archiv | 2011