Mixed Controller Design for Multi-Vehicle Formation Based on Edge and Bearing Measurements
Mixed Controller Design for Multi-Vehicle Formation Based on Edge and Bearing Measurements
复制标题
基于边缘和方位测量的多车辆编队混合控制器设计
DOI：
--
复制
发表时间：
2022
期刊：
影响因子：
--
通讯作者：
F. Arvin
中科院分区：
文献类型：
--
作者：
Kefan Wu;Junyan Hu;B. Lennox;F. Arvin
受自然群体集体行为（如蜂群和鱼群）的启发，群体机器人中的协调策略近年来受到了广泛关注。针对网络化多车系统，提出了一种基于边缘和方位测量的混合编队控制设计方法。传统的边缘控制器在编队任务中得到了广泛的应用，但在一些极端环境下，其跟踪精度取决于传感器的质量，并且需要每辆车的精确位置数据，因此无法保证跟踪精度。为了克服这一限制，我们将基于边缘的控制器与基于轴承的方法相结合，其中只需要车辆之间的相对轴承。根据机器人平台的传感能力，这种混合控制方法可以提供一个有效的解决方案，以最大限度地提高跟踪性能。协议设计中考虑了无领导者和领导者-追随者两种情况。利用李亚普诺夫理论保证了混合编队方法下网络化多车系统的稳定性。最后给出了仿真结果，验证了理论结果的有效性。
Inspired by natural swarm collective behaviors such as colonies of bees and schools of fish, coordination strategies in swarm robotics have received significant attention in recent years. In this paper, a mixed formation control design based on edge and bearing measurements is proposed for networked multi-vehicle systems. Although conventional edge-based controllers have been widely used in many formation tasks, the tracking accuracy may not be guaranteed in some extreme environments as it depends on the quality of the sensors and requires the exact position data of each vehicle. To overcome this limitation, we combine the edge-based controller with a bearing-based method where only relative bearings among the vehicles are required. Depending on the sensing-ability of the robotic platform, this mixed control method can provide an efficient solution to maximise the tracking performance. Both leaderless and leader-follower cases are considered in the protocol design. The stability of the networked multi-vehicle systems under the proposed mixed formation approach is ensured by Lyapunov theory. Finally, we present simulation results to verify the effectiveness of the theoretical results.