Publication

Angle-Constrained Formation Control for Circular Mobile Robots

Chan, N., Jayawardhana, B. & Garcia de Marina Peinado, H., May-2020, (Accepted/In press) In : IEEE Control Systems Letters. 5, 1, p. 109-114 6 p.

Research output: Contribution to journalArticleAcademicpeer-review

Copy link to clipboard

Documents

  • Angle-Constrained Formation Control for Circular Mobile Robots

    Final author's version, 427 KB, PDF document

    Request copy

  • Angle-Constrained Formation Control forCircular Mobile Robots

    Final publisher's version, 536 KB, PDF document

    Request copy

DOI

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 languageEnglish
Pages (from-to)109-114
Number of pages6
JournalIEEE Control Systems Letters
Volume5
Issue number1
Publication statusAccepted/In press - May-2020
Event59th IEEE Conference on Decision and Control - Jeju Island, Jeju Island, Korea, Republic of
Duration: 14-Dec-202018-Dec-2020
https://cdc2020.ieeecss.org/

Event

59th IEEE Conference on Decision and Control

14/12/202018/12/2020

Jeju Island, Korea, Republic of

Event: Conference

ID: 125785709