Log In Sign Up

Distributed coordinated path following using guiding vector fields

by   Weijia Yao, et al.

It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a guiding vector field to guide multiple robots to follow possibly different desired paths while coordinating their motions. The vector field uses a path parameter as a virtual coordinate that is communicated among neighboring robots. Then, the virtual coordinate is utilized to control the relative parametric displacement between robots along the paths. This enables us to design a saturated control algorithm for a Dubins-car-like model. The algorithm is distributed, scalable, and applicable for any smooth paths in an n-dimensional configuration space, and global convergence is guaranteed. Simulations with up to fifty robots and outdoor experiments with fixed-wing aircraft validate the theoretical results.


page 1

page 2

page 3

page 4


Guiding vector fields for the distributed motion coordination of mobile robots

We propose coordinating guiding vector fields to achieve two tasks simul...

Singularity-free Guiding Vector Field for Robot Navigation

Most of the existing path-following navigation algorithms cannot guarant...

Guiding vector fields in Paparazzi autopilot

This article is a technical report on the two different guidance systems...

From Drinking Philosophers to Wandering Robots

In this paper, we consider the multi-robot path execution problem where ...

Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers

Truss robots, or robots that consist of extensible links connected at un...

The Swapped Dragonfly

This paper describes the Swapped Dragonfly. It is a two-parameter family...

Swarm Control of Magnetically Actuated Millirobots

Small-size robots offer access to spaces that are inaccessible to larger...