Adaptive Angle-Constrained Enclosing Control for Multirobot Systems Using Bearing Measurements

• 成果类型: Article
• 署名作者: Lu, Ke; Dai, Shi-Lu; Jin, Xu
• 署名单位: South China University of Technology; South China University of Technology; University of Kentucky
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3303096
• 发表日期: 2024
• 页码: 1324-1331
• 关键词: Angle constraints; Collision avoidance; enclosing control; limited sensing range; nonholonomic mobile robots

摘要

This article proposes a constrained control framework to solve the moving-target enclosing problem for nonholonomic multirobot systems, where the safety and precision constraints are considered during the encircling motion. Based on bearing measurements, the target-robot and interrobot angles are constrained to satisfy the requirements of limited sensing range and collision avoidance. The precision constraint further guarantees all robots converging to a small neighborhood of the desired enclosing formation. With the help of adaptive estimators, universal barrier Lyapunov functions are employed to the constrained control framework despite the lack of target's velocity. Simulation results verify the effectiveness of the proposed control algorithm.