TY - JOUR
T1 - Distance-based formation maneuvering of non-holonomic wheeled mobile robot multi-agent system
AU - Hernández-León, Pablo
AU - Dávila, Jorge
AU - Salazar, Sergio
AU - Ping, Xubin
N1 - Publisher Copyright:
Copyright © 2020 The Authors. This is an open access article under the CC BY-NC-ND license
PY - 2020
Y1 - 2020
N2 - In this paper, finite-time distance-based formation maneuvering control of a nonholonomic wheeled mobile robot multi-agent system in a leader-follower configuration is considered. The desired formation graph is assumed to be minimally and infinitesimally rigid, and only a subset of agents has access to the relative position and velocity of the leader. A distributed velocity estimator is employed by each agent to estimate the leader's velocity and therefore the swarm velocity in finite-time. A finite-time formation maneuvering algorithm is presented and it is proved that drives the agents to the desired formation and tracks the leader's velocity in finite-time. Moreover, it is demonstrated that both the velocity estimator and the controller can be implemented in the agents' local coordinate frames. Simulations are provided to illustrate the effectiveness of the proposed algorithms.
AB - In this paper, finite-time distance-based formation maneuvering control of a nonholonomic wheeled mobile robot multi-agent system in a leader-follower configuration is considered. The desired formation graph is assumed to be minimally and infinitesimally rigid, and only a subset of agents has access to the relative position and velocity of the leader. A distributed velocity estimator is employed by each agent to estimate the leader's velocity and therefore the swarm velocity in finite-time. A finite-time formation maneuvering algorithm is presented and it is proved that drives the agents to the desired formation and tracks the leader's velocity in finite-time. Moreover, it is demonstrated that both the velocity estimator and the controller can be implemented in the agents' local coordinate frames. Simulations are provided to illustrate the effectiveness of the proposed algorithms.
KW - Coordination of multiple vehicle systems
KW - Distance-based control
KW - Formation maneuvering
KW - Multi-agent systems
KW - Non-holonomic mobile robots
UR - http://www.scopus.com/inward/record.url?scp=85105086812&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2020.12.1588
DO - 10.1016/j.ifacol.2020.12.1588
M3 - Artículo de la conferencia
AN - SCOPUS:85105086812
SN - 1474-6670
VL - 53
SP - 5665
EP - 5670
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
IS - 2
T2 - 21st IFAC World Congress 2020
Y2 - 12 July 2020 through 17 July 2020
ER -