Relative docking and formation control via range and odometry measurements
This article studies the problem of distance-based relative docking of a single robot and formation control of multirobot systems. In particular, an integrated localization and navigation scheme is proposed for a robot to navigate itself to a desired relative position with respect to a fixed landmar...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2021
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| Online Access: | https://hdl.handle.net/10356/146206 |
| _version_ | 1826114245326012416 |
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| author | Cao, Kun Qiu, Zhirong Xie, Lihua |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Cao, Kun Qiu, Zhirong Xie, Lihua |
| author_sort | Cao, Kun |
| collection | NTU |
| description | This article studies the problem of distance-based relative docking of a single robot and formation control of multirobot systems. In particular, an integrated localization and navigation scheme is proposed for a robot to navigate itself to a desired relative position with respect to a fixed landmark at an unknown position, where only range and odometry measurements are used. By carefully embedding historical measurements into equilibrium conditions, we design an integrated estimation-control scheme to achieve the relative docking asymptotically. It is rigorously proved that the robot will converge to the desired docking position asymptotically provided that control gains are chosen to satisfy certain conditions. This scheme is further extended to multirobot systems to consider an integrated relative localization and formation control problem. Unlike widely used spatial cooperation in the existing literature, we propose to exploit both spatial and temporal cooperations for achieving formation control. It is proved that multirobot formation can be achieved with zero error for directed acyclic graphs. Several simulation examples are provided to validate our theoretical results. |
| first_indexed | 2024-10-01T03:36:20Z |
| format | Journal Article |
| id | ntu-10356/146206 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T03:36:20Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1462062021-02-02T02:30:10Z Relative docking and formation control via range and odometry measurements Cao, Kun Qiu, Zhirong Xie, Lihua School of Electrical and Electronic Engineering ST Engineering-NTU Corporate Lab Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Docking Formation Control This article studies the problem of distance-based relative docking of a single robot and formation control of multirobot systems. In particular, an integrated localization and navigation scheme is proposed for a robot to navigate itself to a desired relative position with respect to a fixed landmark at an unknown position, where only range and odometry measurements are used. By carefully embedding historical measurements into equilibrium conditions, we design an integrated estimation-control scheme to achieve the relative docking asymptotically. It is rigorously proved that the robot will converge to the desired docking position asymptotically provided that control gains are chosen to satisfy certain conditions. This scheme is further extended to multirobot systems to consider an integrated relative localization and formation control problem. Unlike widely used spatial cooperation in the existing literature, we propose to exploit both spatial and temporal cooperations for achieving formation control. It is proved that multirobot formation can be achieved with zero error for directed acyclic graphs. Several simulation examples are provided to validate our theoretical results. Nanyang Technological University National Research Foundation (NRF) Accepted version 2021-02-02T02:30:10Z 2021-02-02T02:30:10Z 2020 Journal Article Cao, K., Qiu, Z., & Xie, L. (2020). Relative docking and formation control via range and odometry measurements. IEEE Transactions on Control of Network Systems, 7(2), 912-922. doi:10.1109/TCNS.2019.2951893 2325-5870 0000-0003-4688-1096 0000-0003-4896-9649 0000-0002-7137-4136 https://hdl.handle.net/10356/146206 10.1109/TCNS.2019.2951893 2-s2.0-85075502571 2 7 912 922 en IEEE Transactions on Control of Network Systems © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/TCNS.2019.2951893 application/pdf |
| spellingShingle | Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Docking Formation Control Cao, Kun Qiu, Zhirong Xie, Lihua Relative docking and formation control via range and odometry measurements |
| title | Relative docking and formation control via range and odometry measurements |
| title_full | Relative docking and formation control via range and odometry measurements |
| title_fullStr | Relative docking and formation control via range and odometry measurements |
| title_full_unstemmed | Relative docking and formation control via range and odometry measurements |
| title_short | Relative docking and formation control via range and odometry measurements |
| title_sort | relative docking and formation control via range and odometry measurements |
| topic | Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Docking Formation Control |
| url | https://hdl.handle.net/10356/146206 |
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