DeepAI
Log In Sign Up

Distributed coordinated path following using guiding vector fields

03/23/2021
by   Weijia Yao, et al.
0

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.

READ FULL TEXT

page 1

page 2

page 3

page 4

09/20/2022

Guiding vector fields for the distributed motion coordination of mobile robots

We propose coordinating guiding vector fields to achieve two tasks simul...
12/03/2020

Singularity-free Guiding Vector Field for Robot Navigation

Most of the existing path-following navigation algorithms cannot guarant...
06/20/2021

Guiding vector fields in Paparazzi autopilot

This article is a technical report on the two different guidance systems...
01/02/2020

From Drinking Philosophers to Wandering Robots

In this paper, we consider the multi-robot path execution problem where ...
08/14/2021

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

Truss robots, or robots that consist of extensible links connected at un...
02/03/2022

The Swapped Dragonfly

This paper describes the Swapped Dragonfly. It is a two-parameter family...
11/06/2021

Swarm Control of Magnetically Actuated Millirobots

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