{"title":"Leader–follower circumnavigation control of non-holonomic robots using distance-related information","authors":"","doi":"10.1016/j.automatica.2024.111831","DOIUrl":null,"url":null,"abstract":"<div><p>This paper studies the leader–follower circumnavigation problem of two non-holonomic robots using just an angular velocity adjustment. Specifically, two robots orbit around a stationary target along a circle trajectory with a pre-specified spacing distance apart and velocity. However, two robots have no global positioning information and cannot localize the target. Instead, they can just obtain real-time distance-related information with respect to surrounding objects. Based on a leader–follower protocol framework, a distance-based control algorithm is developed to generate saturated control inputs for two robots. Besides, the criteria of the control parameters and initial states are explicitly established. It is demonstrated in detail that, under the established criteria, the developed distance-based control algorithm enables two robots to fulfill the leader–follower circumnavigation objective. Simulation and experiment are carried out to assess and demonstrate the effectiveness of the proposed theoretical results.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8000,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Automatica","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S000510982400325X","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper studies the leader–follower circumnavigation problem of two non-holonomic robots using just an angular velocity adjustment. Specifically, two robots orbit around a stationary target along a circle trajectory with a pre-specified spacing distance apart and velocity. However, two robots have no global positioning information and cannot localize the target. Instead, they can just obtain real-time distance-related information with respect to surrounding objects. Based on a leader–follower protocol framework, a distance-based control algorithm is developed to generate saturated control inputs for two robots. Besides, the criteria of the control parameters and initial states are explicitly established. It is demonstrated in detail that, under the established criteria, the developed distance-based control algorithm enables two robots to fulfill the leader–follower circumnavigation objective. Simulation and experiment are carried out to assess and demonstrate the effectiveness of the proposed theoretical results.
期刊介绍:
Automatica is a leading archival publication in the field of systems and control. The field encompasses today a broad set of areas and topics, and is thriving not only within itself but also in terms of its impact on other fields, such as communications, computers, biology, energy and economics. Since its inception in 1963, Automatica has kept abreast with the evolution of the field over the years, and has emerged as a leading publication driving the trends in the field.
After being founded in 1963, Automatica became a journal of the International Federation of Automatic Control (IFAC) in 1969. It features a characteristic blend of theoretical and applied papers of archival, lasting value, reporting cutting edge research results by authors across the globe. It features articles in distinct categories, including regular, brief and survey papers, technical communiqués, correspondence items, as well as reviews on published books of interest to the readership. It occasionally publishes special issues on emerging new topics or established mature topics of interest to a broad audience.
Automatica solicits original high-quality contributions in all the categories listed above, and in all areas of systems and control interpreted in a broad sense and evolving constantly. They may be submitted directly to a subject editor or to the Editor-in-Chief if not sure about the subject area. Editorial procedures in place assure careful, fair, and prompt handling of all submitted articles. Accepted papers appear in the journal in the shortest time feasible given production time constraints.