Formation control of autonomous robots to track a moving target in an unknown environment

2014 ◽  
Author(s):  
Anh Duc Dang ◽  
Joachim Horn
Keyword(s):  
Formation Control ◽  
Autonomous Robots ◽  
Moving Target ◽  
Unknown Environment

scholarly journals Formation control for autonomous robots with collision and obstacle avoidance using a rotational and repulsive force–based approach

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141984789 ◽  
Author(s):  
Anh Duc Dang ◽  
Hung Manh La ◽  
Thang Nguyen ◽  
Joachim Horn
Keyword(s):  
Force Field ◽  
Control Problem ◽  
Convergence Analysis ◽  
Formation Control ◽  
Autonomous Robots ◽  
Repulsive Force ◽  
New Combination ◽  
Moving Target ◽  
Numerical Examples ◽  
Control Scheme

In this article, we address a formation control problem for a group of autonomous robots to track a moving target in the presence of obstacles. In the proposed method, desired formations, which consist of virtual nodes arranged in specific shapes, are first generated. Then, autonomous robots are driven toward these virtual nodes without collisions with each other using a novel control scheme, which is based on artificial force fields. The convergence analysis is shown based on Lyapunov’s stability. The novelty of the proposed approach lies in a new combination of rotational force field and repulsive force field to design a mechanism so that robots can avoid and escape complex obstacle shapes. The effectiveness of the proposed method is illustrated with numerical examples using V-shape and circular shape formations.

Lyapunov vector-based formation tracking control for unmanned aerial vehicles with obstacle/collision avoidance

2019 ◽  
Vol 42 (5) ◽  
pp. 942-950
Author(s):  
Kai Chang ◽  
Dailiang Ma ◽  
Xingbin Han ◽  
Ning Liu ◽  
Pengpeng Zhao
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Potential Field ◽  
Formation Control ◽  
Control Method ◽  
Spherical Surface ◽  
Moving Target ◽  
Local Optima ◽  
Formation Tracking ◽  
Aerial Vehicles ◽  
Repulsive Forces

This paper presents a formation control method to solve the moving target tracking problem for a swarm of unmanned aerial vehicles (UAVs). The formation is achieved by the artificial potential field with both attractive and repulsive forces, and each UAV in the swarm will be driven into a leader-centered spherical surface. The leader is controlled by the attractive force by the moving target, while the Lyapunov vectors drive the leader UAV to a fly-around circle of the target. Furthermore, the rotational vector-based potential field is applied to achieve the obstacle avoidance of UAVs with smooth trajectories and avoid the local optima problem. The efficiency of the developed control scheme is verified by numerical simulations in four scenarios.

Multi-robot nonlinear model predictive formation control: Moving target and target absence

2013 ◽  
Vol 61 (12) ◽  
pp. 1502-1515 ◽  
Author(s):  
Tiago P. Nascimento ◽  
António Paulo Moreira ◽  
André G. Scolari Conceição
Keyword(s):  
Nonlinear Model ◽  
Formation Control ◽  
Moving Target ◽  
Multi Robot

scholarly journals Practical Formation Control for Multiple Anonymous Robots System with Unknown Nonlinear Disturbances

2021 ◽  
Vol 11 (19) ◽  
pp. 9170
Author(s):  
Peng Xu ◽  
Jin Tao ◽  
Minyi Xu ◽  
Guangming Xie
Keyword(s):  
Theoretical Analysis ◽  
Mobile Robots ◽  
Distributed Control ◽  
Formation Control ◽  
Control Method ◽  
Control Law ◽  
Control Problems ◽  
Moving Target ◽  
Whole Process ◽  
Nonlinear Disturbances

This paper mainly investigates formation control problems for a group of anonymous mobile robots with unknown nonlinear disturbances on a plane, in which all robots can asymptotically converge to any formation patterns without collision, and maintain any required relative distance with neighboring robots. To solve this problem, all robots are modeled as kinematic points and can only acquire information from other robots and their targets. Furthermore, a flexible distributed control law is designed to solve the formation problem while no collisions between any robots can be guaranteed during the whole process. The outstanding feature of the proposed control method is that it can force all mobile robots to form not only uniform circle formations but also non-uniform and non-circular formations with moving target centers. At last, both theoretical analysis and numerical simulations show the feasibility of the proposed control law.

scholarly journals A Framework and Architecture for Multi-Robot Coordination

2002 ◽  
Vol 21 (10-11) ◽  
pp. 977-995 ◽  
Author(s):  
Rafael Fierro ◽  
Aveek Das ◽  
John Spletzer ◽  
Joel Esposito ◽  
Vijay Kumar ◽  
...  
Keyword(s):  
Formation Control ◽  
Autonomous Robots ◽  
Software Systems ◽  
Software Framework ◽  
Cooperative Localization ◽  
Parallel Composition ◽  
Autonomous Operation ◽  
Localization And Mapping ◽  
Formal Definitions ◽  
Experimental Testbed

In this paper, we present a framework and the software architecture for the deployment of multiple autonomous robots in an unstructured and unknown environment, with applications ranging from scouting and reconnaissance, to search and rescue, to manipulation tasks, to cooperative localization and mapping, and formation control. Our software framework allows a modular and hierarchical approach to programming deliberative and reactive behaviors in autonomous operation. Formal definitions for sequential composition, hierarchical composition, and parallel composition allow the bottom-up development of complex software systems. We demonstrate the algorithms and software on an experimental testbed that involves a group of carlike robots, each using a single omnidirectional camera as a sensor without explicit use of odometry.

Formation Control of Autonomous Robots

2001 ◽  
Vol 34 (19) ◽  
pp. 291-296
Author(s):  
Michele Guarnieri ◽  
Paolo Fiorini
Keyword(s):  
Formation Control ◽  
Autonomous Robots
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