Distributed Encirclement Control with Arbitrary Spacing for Multiple Anonymous Mobile Robots
作者单位：College of Mechatronics and AutomationNational University of Defense Technology
会议名称：《第36届中国控制会议》
主办单位：Dalian University of Technology;Systems Engineering Society of China (SESC);Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议日期：2017年
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：supported by National Science Foundation of China(No.61403409,No.61503401 and No.61403406) the graduate school of National University of Defense Technology
关 键 词：encirclement distributed control multi-robot system arbitrary spacing heterogeneous robots
摘 要：Encirclement control enables a multi-robot system to rotate around a target while they still preserve a circle formation,which is useful in real world applications such as entrapping a hostile *** this paper,a distributed control law is proposed for any number of anonymous and oblivious robots in random three dimensional positions to form a specified circular formation with any desired inter-robot angular distances(***) and encircle around the *** spacing is useful for a system composed of heterogeneous robots which,for example,possess different kinematics capabilities,since the spacing can be designed manually for any specific *** robots are modelled by single-integrator models,and they can only sense the angular positions of their two neighbouring robots,so the control law is *** analysis and simulation results are provided to prove the stability and effectiveness of the proposed control strategy.