Fixed-Time Formation Control of Unicycle-Type Mobile Robots With Visibility and Performance Constraints

This paper presents a fixed-time leader-follower formation control protocol for a swarm of unicycle-type mobile robots with visibility and performance constraints. Under a vision-based formation control framework, mobile robots calculate their control signals with only the local relative distance an...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2021-12, Vol.68 (12), p.1-1
Main Authors: Dai, Shi-Lu, Lu, Ke, Jin, Xu
Format: Article
Language:English
Subjects:
Cameras
Collision avoidance
Field of view
Fixed-time control
Geometry
leader-follower formation
Mobile robots
Multi-agent systems
prescribed performance
Robot control
Robot kinematics
Robot vision systems
Robots
Tracking errors
unicycle-type mobile robots
Visibility
vision-based control
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Summary:This paper presents a fixed-time leader-follower formation control protocol for a swarm of unicycle-type mobile robots with visibility and performance constraints. Under a vision-based formation control framework, mobile robots calculate their control signals with only the local relative distance and bearing angle provided by onboard stereo or RGB-D cameras. Since the sensing capability of the fixed onboard cameras is subject to limited range and angle of view, the field-of-view constraints are considered to ensure that each follower can always detect its leader, meanwhile avoid collision with the leader. The time-varying and asymmetric performance constraints on formation tracking errors are applied to guarantee the transient and stead-state performance. Furthermore, the proposed control protocol can be extended to address the control design problem without constraint requirements. Based on the fixed-time control design and Lyapunov analysis, formation tracking errors are shown to converge into a small neighborhood of zero in fixed settling time. Simulation and experiment studies are performed to illustrate the effectiveness of the formation control protocol.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2020.3040686