TY - GEN
T1 - Distance-based Formation Control of a Three-Robot System
AU - Chen, Zhuo
AU - Jiang, Chao
AU - Guo, Yi
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - 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.
AB - 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.
KW - Differential Drive Robot
KW - Distance-based Formation Control
KW - Input Saturation
UR - http://www.scopus.com/inward/record.url?scp=85073096562&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85073096562&partnerID=8YFLogxK
U2 - 10.1109/CCDC.2019.8833001
DO - 10.1109/CCDC.2019.8833001
M3 - Conference contribution
AN - SCOPUS:85073096562
T3 - Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019
SP - 5501
EP - 5507
BT - Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019
T2 - 31st Chinese Control and Decision Conference, CCDC 2019
Y2 - 3 June 2019 through 5 June 2019
ER -