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Coordinated Guiding Vector Field Design for Ordering-Flexible Multirobot Surface Navigation
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DOI：10.1109/TAC.2024.3355321.png)
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摘要
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In this article, we design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired 2-D surface. The CGVF is characterized by three terms, i.e., a convergence term to drive the robots to converge to the desired surface, a propagation term to provide a traversing direction for maneuvering on the desired surface, and a coordinated term to achieve the surface motion coordination with an arbitrary ordering of the robotic group. By setting the surface parameters as additional virtual coordinates, the proposed approach eliminates potential singularity of the CGVF and enables both the global convergence to the desired surface and the maneuvering on the surface from all possible initial conditions. The ordering-flexible surface motion coordination is realized by each robot to share with its neighbors only two virtual coordinates, i.e., that of a given target and that of its own, which reduces the communication and computation cost in multirobot surface navigation. Finally, the effectiveness of the CGVF is substantiated by extensive numerical simulations.
Keyword:
Robot kinematics
Navigation
Convergence
Surface treatment
Robot sensing systems
Task analysis
Aerospace electronics
Agents and autonomous systems
cooperative control
network analysis and control
ordering-flexible surface navigation
期刊
IF:
7
论文数:
1.3W
被引数:
6.7W
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