论文标题
圆形移动机器人的角度约束形成控制
Angle-Constrained Formation Control for Circular Mobile Robots
论文作者
论文摘要
在这封信中，我们调查了移动机器人在平面上移动的形成控制问题，在该问题中，假定每个机器人都具有相等半径的磁盘的形式，而不是假设机器人是简单的点。基于可以从低成本视觉传感器获得的相邻机器人磁盘的内部角度测量值，我们提出了基于梯度的分布式控制法，并显示了相关误差系统的指数收敛属性。根据施工，拟议的控制法具有确保相邻机器人之间避免碰撞的诱人财产。我们还提供了四个圆形移动机器人的{团队}的仿真结果，形成了矩形形状。
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.
