文章基本信息

标题：Distance-Based Formation Maneuvering of Non-Holonomic Wheeled Mobile Robot Multi-Agent System
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作者：Pablo Hernández-León ; Jorge Dávila ; Sergio Salazar 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：5665-5670
DOI：10.1016/j.ifacol.2020.12.1588
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, finite-time distance-based formation maneuvering control of a non-holonomic wheeled mobile robot multi-agent system in a leader-follower configuration is considered. The desired formation graph is assumed to be minimally and infinitesimally rigid, and only a subset of agents has access to the relative position and velocity of the leader. A distributed velocity estimator is employed by each agent to estimate the leader’s velocity and therefore the swarm velocity in finite-time. A finite-time formation maneuvering algorithm is presented and it is proved that drives the agents to the desired formation and tracks the leader’s velocity in finite-time. Moreover, it is demonstrated that both the velocity estimator and the controller can be implemented in the agents’ local coordinate frames. Simulations are provided to illustrate the effectiveness of the proposed algorithms.
关键词：KeywordsMulti-agent systemsCoordination of multiple vehicle systemsDistance-based controlFormation maneuveringNon-holonomic mobile robots