Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 68, Issue 12, Pages 12615-12625Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2020.3040686
Keywords
Collision avoidance; Robot kinematics; Mobile robots; Multi-agent systems; Robot vision systems; Cameras; Geometry; Fixed-time control; leader-follower formation; prescribed performance; unicycle-type mobile robots; vision-based control
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Funding
- National Natural Science Foundation of China [61973129, 62073090]
- Science and Technology Planning Project of Guangdong Province [2020B1111010002]
- Guangdong Marine Economic Development Project [2020018]
- Fundamental Research Funds for the Central Universities
- NASA Kentucky under NASA [80NSSC20M0047]
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This article presents a fixed-time leader-follower formation control protocol for unicycle-type mobile robots, considering visibility and performance constraints to ensure the effectiveness of the formation control. The control protocol uses onboard cameras and applies time-varying and asymmetric performance constraints to guarantee transient and steady-state performance.
This article presents a fixed-time leader-follower formation control protocol for a swarm of unicycle-type mobile robots with visibility and performance constraints. Under a vision-based formation control framework, mobile robots calculate their control signals with only the local relative distance and bearing angle provided by onboard stereo or RGB-D cameras. Since the sensing capability of the fixed onboard cameras is subject to limited range and angle of view, the field-of-view constraints are considered to ensure that each follower can always detect its leader and meanwhile avoid collision with the leader. The time-varying and asymmetric performance constraints on formation tracking errors are applied to guarantee the transient and stead-state performance. Furthermore, the proposed control protocol can be extended to address the control design problem without constraint requirements. Based on the fixed-time control design and Lyapunov analysis, formation tracking errors are shown to converge to a small neighborhood of zero in fixed settling time. Simulation and experiment studies are performed to illustrate the effectiveness of the formation control protocol.
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