Distance-based Formation Control of a Three-Robot System

Zhuo Chen, Chao Jiang, Yi Guo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

5 Scopus citations

Abstract

Distance-based formation control becomes popular since it does not require absolute positions to be sensed by each agent, which makes it suitable for vision-based robot formation control tasks. In this paper, we present a distributed control law for a group of three differential-drive robots to maintain a desired formation with a common desired velocity. As a first step, the control law for a group of three single-integrator modeled agents is presented and proved. Then, the control law is extended to a group of nonholonomic robots by using a coordinate transformation technique while considering the input saturation nonlinearity. Finally, the designed controller is verified in a robot simulator V-REP. Simulation results have shown that the control performance is satisfactory.

Original languageEnglish
Title of host publicationProceedings of the 31st Chinese Control and Decision Conference, CCDC 2019
Pages5501-5507
Number of pages7
ISBN (Electronic)9781728101057
DOIs
StatePublished - Jun 2019
Event31st Chinese Control and Decision Conference, CCDC 2019 - Nanchang, China
Duration: 3 Jun 20195 Jun 2019

Publication series

NameProceedings of the 31st Chinese Control and Decision Conference, CCDC 2019

Conference

Conference31st Chinese Control and Decision Conference, CCDC 2019
Country/TerritoryChina
CityNanchang
Period3/06/195/06/19

Keywords

  • Differential Drive Robot
  • Distance-based Formation Control
  • Input Saturation

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