Zhao, S. orcid.org/0000-0003-3098-8059 and Zheng, R. (2017) Flexible bearing-only rendezvous control of mobile robots. In: 2017 36th Chinese Control Conference (CCC). The 36th Chinese Control Conference, 26-28 Jul 2017, Dalian, China. Institute of Electrical and Electronics Engineers , pp. 8051-8056.
Abstract
In this paper we study rendezvous control of multiple mobile robots. We propose a control law that merely requires each robot to measure the relative bearings of their neighbors in their local coordinate frames. Distance measurement or relative position estimation is not required. In theory, the proposed control law verifies that distance information is redundant in rendezvous control tasks though the objective of rendezvous is to decrease the inter-robot distances. In practice, the control law provides a simple solution to vision-based rendezvous tasks where bearings can be measured by visual sensing. Moreover, we generalize the proposed control law by introducing an additional heading vector into the control law. This heading vector may preserve the system convergence and, in the meantime, provides great flexibility to adapt the control law for nonholonomic robot models or obstacle avoidance.
Metadata
Item Type: | Proceedings Paper |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © 2017 IEEE. This is an author produced version of a paper subsequently published in 2017 36th Chinese Control Conference (CCC). Uploaded in accordance with the publisher's self-archiving policy. |
Dates: |
|
Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 19 Apr 2017 09:16 |
Last Modified: | 22 Nov 2017 11:26 |
Published Version: | https://doi.org/10.23919/ChiCC.2017.8028630 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Refereed: | Yes |
Identification Number: | 10.23919/ChiCC.2017.8028630 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:115119 |