TY - JOUR

T1 - Angle-Constrained Formation Control for Circular Mobile Robots

AU - Chan, Nelson

AU - Jayawardhana, Bayu

AU - Garcia de Marina Peinado, Hector

PY - 2021/1

Y1 - 2021/1

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.

UR - https://arxiv.org/abs/2005.04694

U2 - 10.1109/LCSYS.2020.3000061

DO - 10.1109/LCSYS.2020.3000061

M3 - Article

VL - 5

SP - 109

EP - 114

JO - IEEE Control Systems Letters

JF - IEEE Control Systems Letters

SN - 2475-1456

IS - 1

T2 - 59th IEEE Conference on Decision and Control

Y2 - 14 December 2020 through 18 December 2020

ER -