Distance-based Formation Control of a Three-Robot System

Zhuo Chen; Chao Jiang; Yi Guo

doi:10.1109/CCDC.2019.8833001

Distance-based Formation Control of a Three-Robot System

Zhuo Chen, Chao Jiang, Yi Guo

Stevens Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Distance-based formation control becomes popular since it does not require absolute positions to be sensed by each agent, which makes it suitable for vision-based robot formation control tasks. In this paper, we present a distributed control law for a group of three differential-drive robots to maintain a desired formation with a common desired velocity. As a first step, the control law for a group of three single-integrator modeled agents is presented and proved. Then, the control law is extended to a group of nonholonomic robots by using a coordinate transformation technique while considering the input saturation nonlinearity. Finally, the designed controller is verified in a robot simulator V-REP. Simulation results have shown that the control performance is satisfactory.

Original language	English
Title of host publication	Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5501-5507
Number of pages	7
ISBN (Electronic)	9781728101057
DOIs	https://doi.org/10.1109/CCDC.2019.8833001
State	Published - Jun 2019
Event	31st Chinese Control and Decision Conference, CCDC 2019 - Nanchang, China Duration: Jun 3 2019 → Jun 5 2019

Publication series

Name	Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019

Conference

Conference	31st Chinese Control and Decision Conference, CCDC 2019
Country/Territory	China
City	Nanchang
Period	6/3/19 → 6/5/19

ASJC Scopus subject areas

General Decision Sciences
Control and Systems Engineering
Control and Optimization

Keywords

Differential Drive Robot
Distance-based Formation Control
Input Saturation

Access to Document

10.1109/CCDC.2019.8833001

Cite this

Chen, Z., Jiang, C., & Guo, Y. (2019). Distance-based Formation Control of a Three-Robot System. In Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019 (pp. 5501-5507). Article 8833001 (Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCDC.2019.8833001

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title = "Distance-based Formation Control of a Three-Robot System",

abstract = "Distance-based formation control becomes popular since it does not require absolute positions to be sensed by each agent, which makes it suitable for vision-based robot formation control tasks. In this paper, we present a distributed control law for a group of three differential-drive robots to maintain a desired formation with a common desired velocity. As a first step, the control law for a group of three single-integrator modeled agents is presented and proved. Then, the control law is extended to a group of nonholonomic robots by using a coordinate transformation technique while considering the input saturation nonlinearity. Finally, the designed controller is verified in a robot simulator V-REP. Simulation results have shown that the control performance is satisfactory.",

keywords = "Differential Drive Robot, Distance-based Formation Control, Input Saturation",

author = "Zhuo Chen and Chao Jiang and Yi Guo",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 31st Chinese Control and Decision Conference, CCDC 2019 ; Conference date: 03-06-2019 Through 05-06-2019",

year = "2019",

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language = "English",

series = "Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019",

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Chen, Z, Jiang, C & Guo, Y 2019, Distance-based Formation Control of a Three-Robot System. in Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019., 8833001, Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019, Institute of Electrical and Electronics Engineers Inc., pp. 5501-5507, 31st Chinese Control and Decision Conference, CCDC 2019, Nanchang, China, 6/3/19. https://doi.org/10.1109/CCDC.2019.8833001

Distance-based Formation Control of a Three-Robot System. / Chen, Zhuo; Jiang, Chao; Guo, Yi.
Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 5501-5507 8833001 (Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Distance-based Formation Control of a Three-Robot System

AU - Chen, Zhuo

AU - Jiang, Chao

AU - Guo, Yi

PY - 2019/6

Y1 - 2019/6

N2 - Distance-based formation control becomes popular since it does not require absolute positions to be sensed by each agent, which makes it suitable for vision-based robot formation control tasks. In this paper, we present a distributed control law for a group of three differential-drive robots to maintain a desired formation with a common desired velocity. As a first step, the control law for a group of three single-integrator modeled agents is presented and proved. Then, the control law is extended to a group of nonholonomic robots by using a coordinate transformation technique while considering the input saturation nonlinearity. Finally, the designed controller is verified in a robot simulator V-REP. Simulation results have shown that the control performance is satisfactory.

AB - Distance-based formation control becomes popular since it does not require absolute positions to be sensed by each agent, which makes it suitable for vision-based robot formation control tasks. In this paper, we present a distributed control law for a group of three differential-drive robots to maintain a desired formation with a common desired velocity. As a first step, the control law for a group of three single-integrator modeled agents is presented and proved. Then, the control law is extended to a group of nonholonomic robots by using a coordinate transformation technique while considering the input saturation nonlinearity. Finally, the designed controller is verified in a robot simulator V-REP. Simulation results have shown that the control performance is satisfactory.

KW - Differential Drive Robot

KW - Distance-based Formation Control

KW - Input Saturation

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Distance-based Formation Control of a Three-Robot System

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Conference

ASJC Scopus subject areas

Keywords

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