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Circular Formation Algorithms for Multiple Nonholonomic Mobile Robots: An Optimization-Based Approach
IEEE Transactions on Industrial Electronics ( IF 7.7 ) Pub Date : 2019-05-01 , DOI: 10.1109/tie.2018.2864721
Jiahu Qin , Shuai Wang , Yu Kang , Qingchen Liu

This paper revisits the circular formation control problem proposed in [G. S. Seyboth, J. Wu, J. Qin, C. Yu, and F. Allgower, “Collective circular motion of unicycle type vehicles with nonidentical constant velocities,” IEEE Transactions on Control of Network Systems, vol. 1, no. 2, pp. 167–176, Jun. 2014.] for multiple nonholonomic mobile robots with nonidentical constant forward speeds. Specifically, we study two types of circular formations: First, a circular motion with synchronized/balanced phase configuration; and second, a concentric circular formation with both circular orbits control and phase synchronization/balancing. Existing works on the above problems utilize a fixed-gain control input, which increases the workload of the engineers for selecting favorable algorithm parameters. To reduce this workload, we study the above problems from a new perspective by utilizing optimization methods, based on which two variable-gain control algorithms are proposed such that much greater flexibility on the selection of algorithm parameters is acquired. The global convergence properties of the proposed algorithms are analyzed under some mild assumptions. Both simulations and field experiments are presented to validate the effectiveness of the proposed formation algorithms.

中文翻译:

多个非完整移动机器人的圆形编队算法:一种基于优化的方法

本文重新审视了 [GS Seyboth、J. Wu、J. Qin、C. Yu 和 F. Allgower,“具有不同恒定速度的独轮车类型车辆的集体圆周运动”,IEEE Transactions on Control of网络系统,卷。1,没有。2, pp. 167–176, Jun. 2014.] 用于具有不同恒定前进速度的多个非完整移动机器人。具体来说,我们研究了两种类型的圆形构造:第一,具有同步/平衡相位配置的圆形运动;其次,具有圆形轨道控制和相位同步/平衡的同心圆形地层。针对上述问题的现有工作采用固定增益控制输入,这增加了工程师选择有利算法参数的工作量。为了减少这种工作量,我们利用优化方法从新的角度研究了上述问题,在此基础上提出了两种可变增益控制算法,从而在算法参数的选择上获得了更大的灵活性。在一些温和的假设下分析了所提出算法的全局收敛特性。模拟和现场实验都被提出来验证所提出的形成算法的有效性。
更新日期:2019-05-01
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