Bearing-Only Formation Control for Cascade Multirobots
Joint Authors
Yang, Hong-an
Han, Qing
Lang, Hao
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-07-17
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
A new formation control method is proposed, which is used to queue multirobots in a single-direction cascade structure.
In the cascade formation, each robot is a follower for the previous robot and a leader for the next robot, and the robots in the middle act as both leader and follower.
The follower robot can only observe the bearing information of the leader robot.
The observability of the cascade leader-follower formation is studied, which shows that the bearing-only observation meets the observability conditions required for the nonlinear system.
Based on the bearing-only observations, the unscented Kalman filter (UKF) is employed for the state estimation of the leader and the follower robots at all levels, which enables the real-time movement control of the follower robots via the input-output feedback control.
Simulation results demonstrate that the proposed approach can efficiently control the formation of multirobots as desired.
American Psychological Association (APA)
Han, Qing& Yang, Hong-an& Lang, Hao. 2016. Bearing-Only Formation Control for Cascade Multirobots. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1112308
Modern Language Association (MLA)
Han, Qing…[et al.]. Bearing-Only Formation Control for Cascade Multirobots. Mathematical Problems in Engineering No. 2016 (2016), pp.1-13.
https://search.emarefa.net/detail/BIM-1112308
American Medical Association (AMA)
Han, Qing& Yang, Hong-an& Lang, Hao. Bearing-Only Formation Control for Cascade Multirobots. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-13.
https://search.emarefa.net/detail/BIM-1112308
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1112308