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 | |
| 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/ |