Distributed coordinated path following using guiding vector fields

Weijia Yao, Hector Garcia de Marina, Zhiyong Sun, Ming Cao

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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.
Original languageEnglish
Title of host publication2021 IEEE Conference on Robotics and Automation (ICRA)
Number of pages8
ISBN (Electronic)978-1-7281-9077-8
ISBN (Print)978-1-7281-9078-5
Publication statusPublished - Oct-2021
EventThe 2021 International Conference on Robotics and Automation : ICRA 2021 - Xi’an International Convention and Exhibition Center in Xi’an, China, Xi’an, China
Duration: 30-May-20215-Jun-2021


ConferenceThe 2021 International Conference on Robotics and Automation
Abbreviated titleICRA 2021
Internet address

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