Distributed formation control of multi-vehicle system based on hybrid relative measurements

Author:

Pan Kunpeng1ORCID,Lyu Yang1,Feng Zhaowen1,Pan Quan1

Affiliation:

1. School of Automation, Northwestern Polytechnical University, Xi’an, Shaanxi, PR China

Abstract

Formation control has been studied extensively along with the potential applications of multi-vehicle system in various areas. In this paper, a distributed control scheme based on the relative bearing and distance measurements is proposed. The main difference from the existing works lies in that the proposed control scheme can realize unambiguous formation tracking while considering the task-specification and environment constraints under practical bearing and distance sensing conditions. First, the uniqueness of the formation based on relative bearings and distances is investigated and the sufficient condition is provided. Further, the distributed formation controllers that are able to dynamically track the formation with both leaderless and leader-follower setups are designed under practical sensing conditions. In the end, to validate the effectiveness and practicability of the proposed distributed hybrid measurements based formation control scheme, both simulations based on synthetic scenarios and experiments with quadrotors equipping cameras and Ultra-Wide Band (UWB) transmitters are carried out. The simulation and experiment results show that the proposed controllers are able to track the desired formation pattern based on the bearing and distance measurements.

Funder

National Natural Science Foundation of China

Publisher

SAGE Publications

Subject

Mechanical Engineering

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Fixed-time sliding mode estimator-based distributed formation control for multiple nonholonomic mobile robots;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2024-01-16

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