Planar formation control using tensegrity structures and experiments

Qingkai Yang, Yunlong Pan, Bo Zhou, H. Fang
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Abstract

This paper presents a framework on how to achieve prescribed planar formations using the concept of tensegrity structures. Given a group of robots with desired formation shape, we first design the underlying interaction topology based on the Polygon Theorem, yielding a super stable structure along with the robots' configuration. Then some basic control laws are introduced for mobile robots to model the interplay relationship between the neighbouring nodes in a self-equilibrated tensegrity structure. To fully validate the effectiveness of the tensegrity-motivated formation control strategy, we carry out not only numerical simulations but also experiments on two types of mobile robot platforms, wheeled mobile robots and unmanned aerial vehicles (UAVs).
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平面编队控制的张拉整体结构和实验
本文提出了如何使用张拉整体结构的概念来实现规定的平面结构的框架。给定一组具有所需队形的机器人,我们首先基于多边形定理设计了底层交互拓扑,得到了一个超稳定的结构和机器人的构型。在此基础上,引入了移动机器人的基本控制律,对自平衡张拉整体结构中相邻节点之间的相互作用关系进行了建模。为了充分验证张拉整体编队控制策略的有效性,我们不仅进行了数值模拟,还在轮式移动机器人和无人机两种移动机器人平台上进行了实验。
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