Mobile Formation Coordination and Tracking Control for Multiple Nonholonomic Vehicles

Abstract

This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles' position information and desired attitude, the translational and rotational control inputs are designed in two stages to solve the trajectory tracking problem. Secondly, the coordination relationships of relative positions and headings are explored thoroughly for a group of non-holonomic vehicles to maintain a mobile formation with rigid body motion constraints. We prove that, except for the cases of parallel formation and translational straight line formation, a mobile formation with strict rigid-body motion can be achieved if and only if the ratios of linear speed to angular speed for each individual vehicle are constants. Motion properties for mobile formation with weak rigid-body motion are also demonstrated. Thereafter, based on the proposed trajectory tracking approach, a distributed mobile formation control law is designed under a directed tree graph. The performance of the proposed controllers is validated by both numerical simulations and experiments.

Consensus Control for Wheeled Mobile Robots Under Input Saturation Constraint

“…Remark 3. Comparing to the observed proposed in [16], there are two main characters distinguish the observer in [16] with our observer. Firstly, owing to the frame of observer design, the observer we proposed is a distributed observer, and the convergence analysis has also been done in our manuscript, which is missing in reference [16].…”

“…Comparing to the observed proposed in [16], there are two main characters distinguish the observer in [16] with our observer. Firstly, owing to the frame of observer design, the observer we proposed is a distributed observer, and the convergence analysis has also been done in our manuscript, which is missing in reference [16]. Secondly and importantly, the distributed observer we proposed is capable of specified time estimation, so that followers can obtain the estimated leader's information within a short time to conduct the cooperation task, which benefits the control performance.…”

“…This assumption may seems restrictive at first glance, however it has its real case in work. As mentioned in Reference [16], UAV (unmanned aerial vehicle) with fixed wings can only move forward with its linear speed, but it ca not move backward. Hence, the leader in our manuscript could be a UAV with fixed wings under positive linear speed, the mobile robot on the ground can receive the distribution information of the leader and then can conduct the airground cooperation task.…”

Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities

“…This kind of linearization has the issue that all the robots’ linear velocities must be non-null. The forward motion of a formation has also been treated in [ 19 ] using a two-stage approach. Formation tracking of both position and orientation has been proposed to achieve asymptotic convergence in [ 20 ] or globally uniformly ultimately bounded stability in [ 21 ].…”

Space‐and‐time‐synchronized simultaneous fully‐actuated vehicle tracking/formation using cascaded prescribed‐time control

“…In practice, positioning and tracking problems of ground, marine vehicles and unmanned aerial vehicles (UAVs) are of special interest to many important applications which involve the trajectory/path following of autonomous vehicles, 1‐6 formation/containment control of multiple autonomous vehicles 7‐14 and so on. It is noted that there exist two important scales in positioning and tracking: space and time.…”