Angle-Constrained Formation Control for Circular Mobile Robots

Nelson Chan; Bayu Jayawardhana; Hector Garcia de Marina Peinado

doi:10.1109/LCSYS.2020.3000061

Angle-Constrained Formation Control for Circular Mobile Robots

Nelson Chan^*, Bayu Jayawardhana, Hector Garcia de Marina Peinado

^*Corresponding author for this work

Discrete Technology and Production Automation

Research output: Contribution to journal › Article › Academic › peer-review

5 Citations (Scopus)

72 Downloads (Pure)

Abstract

In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior angle measurements of the neighboring robots’ disk, which can be obtained from low-cost vision sensors, we propose a gradient-based distributed control law and show the exponential convergence property of the associated error system. By construction, the proposed control law has the appealing property of ensuring collision avoidance between neighboring robots. We also present simulation results for a team of four circular mobile robots forming a rectangular shape.

Original language	English
Pages (from-to)	109-114
Number of pages	6
Journal	IEEE Control Systems Letters
Volume	5
Issue number	1
DOIs	https://doi.org/10.1109/LCSYS.2020.3000061
Publication status	Published - Jan-2021
Event	59th IEEE Conference on Decision and Control - Jeju Island, Jeju Island, Korea, Republic of Duration: 14-Dec-2020 → 18-Dec-2020 https://cdc2020.ieeecss.org/

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Angle-Constrained Formation Control forCircular Mobile RobotsFinal publisher's version, 536 KBLicence: Taverne

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title = "Angle-Constrained Formation Control for Circular Mobile Robots",

abstract = "In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior angle measurements of the neighboring robots{\textquoteright} disk, which can be obtained from low-cost vision sensors, we propose a gradient-based distributed control law and show the exponential convergence property of the associated error system. By construction, the proposed control law has the appealing property of ensuring collision avoidance between neighboring robots. We also present simulation results for a team of four circular mobile robots forming a rectangular shape.",

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AU - Garcia de Marina Peinado, Hector

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N2 - In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior angle measurements of the neighboring robots’ disk, which can be obtained from low-cost vision sensors, we propose a gradient-based distributed control law and show the exponential convergence property of the associated error system. By construction, the proposed control law has the appealing property of ensuring collision avoidance between neighboring robots. We also present simulation results for a team of four circular mobile robots forming a rectangular shape.

AB - In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior angle measurements of the neighboring robots’ disk, which can be obtained from low-cost vision sensors, we propose a gradient-based distributed control law and show the exponential convergence property of the associated error system. By construction, the proposed control law has the appealing property of ensuring collision avoidance between neighboring robots. We also present simulation results for a team of four circular mobile robots forming a rectangular shape.

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T2 - 59th IEEE Conference on Decision and Control

Y2 - 14 December 2020 through 18 December 2020

ER -

Angle-Constrained Formation Control for Circular Mobile Robots

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