Stationary target localization and circumnavigation by a non‐holonomic differentially driven mobile robot: Algorithms and experiments

Wang, Lei; Zou, Yao; Meng, Ziyang

doi:10.1002/rnc.5286

Cited by 12 publications

(4 citation statements)

References 28 publications

(35 reference statements)

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“…The cyclic pursuit strategybased bearing measurements are applied to achieve the circular formation tracking for fixed target by a group of unicycles [152]. The localization and circumnavigation of the target with an unknown position are investigated in [153]. A similar problem is addressed in [55,122,154] where control algorithms are proposed based on the range and range rate measurements to circumnavigate an unknown target.…”

Section: Fixed Target Trackingmentioning

confidence: 99%

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

2021

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Distributed control solutions to the multi-agent systems in terms of coordination, formation, and consensus problems are extensively studied in the literature. The circular formation control of multi-agent systems becomes one of the most challenging and active research topics in distributed cooperative control. The research potential of circular formation control has grown especially in satellite formation and control. The circular formation control aims to drive a group of agents to move on a circular trajectory around a center with spacing adjustment to avoid the collision. This paper covers the fundamental research in consensus and formation control and the latest developments in the applications of formation control especially in circular formation control and stability analysis. Literature related to various control streams to achieve circular formation is discussed. Algebraic graph theory is used as a building block in problem definition, problem formulation, and solutions. A review of bearing, range, and received signal strength measurements with respect to circular formation control is presented. Leader following, behavior-based, artificial potential function, virtual structure, and cyclic pursuit are the methods discussed most in this context. The stabilization of the collective circular motion with the unicycles approach is also discussed. Further results on circular formation, several applications, and future research directions are presented.

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Section: Fixed Target Trackingmentioning

confidence: 99%

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

2021

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“…With the development of science and technology, mobile robots are more and more widely implemented in industry and services industries and services. For simple and repetitive transportation tasks in factories and warehouses, it is more efficient and economical to utilize mobile robots instead of labor force (Kassaeiyan et al, 2019;Mai et al, 2019;Zou, 2019;Wang et al, 2021). In addition, on some dangerous occasions, robots are more suitable than humans to complete the corresponding hazardous tasks.…”

Section: Introductionmentioning

confidence: 99%

Obstacle-avoidance trajectory planning and sliding mode-based tracking control of an omnidirectional mobile robot

Sun¹,

Hu²,

Miao³

et al. 2023

Front. Control Eng.

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Trajectory planning and tracking control play a vital role in the development of autonomous mobile robots. To fulfill the tasks of trajectory planning and tracking control of a Mecanum-wheeled omnidirectional mobile robot, this paper proposes an artificial potential field-based trajectory-planning scheme and a discrete integral terminal sliding mode-based trajectory-tracking control strategy. This paper proposes a trajectory-planning scheme and a trajectory-tracking control strategy for a Mecanum-wheeled omnidirectional mobile robot by using artificial potential field and discrete integral terminal sliding mode, respectively. First, a discrete kinematic-and-dynamic model is established for the Mecanum-wheeled omnidirectional mobile robot. Then, according to the positions of the robot, target, and obstacles, a reference an obstacle-avoidance trajectory is planned and updated iteratively by utilizing artificial potential field functions. Afterward, a discrete integral terminal sliding mode control algorithm is designed for the omnidirectional mobile robot such that the robot can track the planned trajectory accurately. Meanwhile, the stability of the control system is analyzed and guaranteed proved in the sense of Lyapunov. Last, simulations are executed in the scenarios of static obstacles and dynamic obstacles. The simulation results demonstrate the effectiveness and merits of the presented methods.

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“…Recently, the authors in [9] designed a coordinate‐free controller for a non‐holonomic vehicle to circumnavigate a fully‐actuated moving target by using range‐only measurements. The literature [10] proposed a circumnavigation control law to achieve a circular motion around a target by a non‐holonomic differentially driven mobile robot.…”

Section: Introductionmentioning

confidence: 99%

Cooperative circumnavigation control of multiple unicycle‐type robots with non‐identical input constraints

Miao

Wang

2022

IET Control Theory & Appl

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For the robot control problems, the input constraint is an issue that must be carefully considered. Considering the control inputs of the robots in the multi-robot system are constrained by different saturations in reality, we address the cooperative circumnavigation control problem of multiple unicycle-type robots with non-identical and unknown input constraints in this paper. A distributed control law is designed to drive the robots constrained by different and unknown input saturations to achieve the cooperative circumnavigation around a moving target. The algorithm proposed in this paper largely reduces the requirement for the maneuverability of the robots to achieve the cooperative circumnavigation. As long as the robots owns the basic maneuverability of circumnavigating around the target, it is proved rigorously that the proposed control algorithm can achieve the desired cooperation circumnavigation of the multi-robot system. The effectiveness of the proposed method is validated by a numerical simulation.

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Stationary target localization and circumnavigation by a non‐holonomic differentially driven mobile robot: Algorithms and experiments

Cited by 12 publications

References 28 publications

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

Obstacle-avoidance trajectory planning and sliding mode-based tracking control of an omnidirectional mobile robot

Cooperative circumnavigation control of multiple unicycle‐type robots with non‐identical input constraints

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