{"title":"仅使用方位或距离测量的轮式移动机器人交会","authors":"Ronghao Zheng, Dong Sun","doi":"10.1109/ROBIO.2013.6739468","DOIUrl":null,"url":null,"abstract":"In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N-robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems.","PeriodicalId":434960,"journal":{"name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Rendezvous of wheeled mobile robots using bearings-only or range-only measurements\",\"authors\":\"Ronghao Zheng, Dong Sun\",\"doi\":\"10.1109/ROBIO.2013.6739468\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N-robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems.\",\"PeriodicalId\":434960,\"journal\":{\"name\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2013.6739468\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2013.6739468","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Rendezvous of wheeled mobile robots using bearings-only or range-only measurements
In this paper, we study distributed rendezvous strategies for multiple nonholonomic wheeled mobile robots with the aim of testing their practicality on real robots. Control strategies using just bearings-only or range-only measurements are investigated. For the bearings-only case, we recall two control laws presented in our previous study. For the range-only case, we first propose rendezvous control laws for a two-robot system and prove the global convergence results for this specific case. Then these range-only based controllers are extended to a N-robot system. Experimental results illustrate the applicability and performance of the proposed control strategies for multiple wheeled-robot systems.