Guiding Vector Fields for the Distributed Motion Coordination of Mobile Robots

Weijia Yao; Héctor García de Marina; Zhiyong SunMing Cao

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Guiding Vector Fields for the Distributed Motion Coordination of Mobile Robots

机译：Guiding Vector Fields for the Distributed Motion Coordination of Mobile Robots

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In this article, we propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different paths or surfaces typically embedded in 2-D or 3-D, and second, their motion coordination while tracking their prescribed paths or surfaces. The motion coordination is defined by desired parametric displacements between robots on the path or surface. Such a desired displacement is achieved by controlling the virtual coordinates, which correspond to the path or surface's parameters, between guiding vector fields. Rigorous mathematical guarantees underpinned by dynamical systems theory and Lyapunov theory are provided for the effective distributed motion coordination and navigation of robots on paths or surfaces from all initial positions. As an example for practical robotic applications, we derive a control algorithm from the proposed coordinating guiding vector fields for a Dubins-car-like model with actuation saturation. Our proposed algorithm is distributed and scalable to an arbitrary number of robots. Furthermore, extensive illustrative simulations and fixed-wing aircraft outdoor experiments validate the effectiveness and robustness of our algorithm.

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《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2023年第2期|1119-1135|共17页
作者
Weijia Yao; Héctor García de Marina; Zhiyong SunMing Cao;
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作者单位

School of Robotics, Hunan University, Hunan, China|ENTEG, University of Groningen, Groningen, The Netherlands;

Department of Computer Engineering, Automation and Robotics, and with CITIC, Universidad de Granada, Granada, Spain;

Eindhoven University of Technology, AZ Eindhoven, The NetherlandsENTEG, University of Groningen, Groningen, The Netherlands;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Robots; Robot kinematics; Multi-robot systems; Aircraft; Trajectory; Task analysis; Tail;

Guiding Vector Fields for the Distributed Motion Coordination of Mobile Robots

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