Vision-Based Formation Control for a Heterogeneous Multi-Robot System

被引：1

作者：

Ding, Wendi ^{[1
]}

Chen, Xinyi ^{[1
]}

Zhu, Wenxin ^{[1
]}

Ren, Qinyuan ^{[1
]}

机构：

[1] Zhejiang Univ, Coll Control Sci & Engn, Hangzhou, Peoples R China

来源：

PROCEEDINGS OF THE 2021 IEEE 16TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2021) | 2021年

关键词：

Heterogeneous multi robot system; visual localization; formation; field of view constraint; gradient-based method; MOBILE ROBOTS; NAVIGATION; AERIAL;

D O I：

10.1109/ICIEA51954.2021.9516355

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

This work presents a decentralized formation control approach for a heterogeneous multi robot system including a team of nonholonomic unmanned ground vehicles and an unmanned aerial vehicle based on visual localization. Relying only on the visual information from the onboard camera mounted on the unmanned aerial vehicle, the unmanned ground vehicle team can be controlled in a desired formation with the flying drone. A gradient-based control law is designed, in which the formation producing, collision avoidance and field of view constraint have been considered comprehensively. Finally, the performance and validness of the developed method are verified through simulations.

引用

页码：1791 / 1796

页数：6

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