Abstract
In this paper, we propose a novel variable-gain formation algorithm to steer a group of unicycle type vehicles moving in straight lines or circular orbits with three types of phase configurations (synchronized, balanced and stabilization of the average linear momentum). The algorithm design is carried out from the viewpoint of optimization theory to guarantee that control gains are variable. Specifically, a step length search algorithm used in optimization methods is employed to update the control gain at each iteration. The implementation details of the rectilinear/circular formation algorithm are given to show that the three types of phase configurations can be reached by utilizing corresponding well-designed objective functions. Furthermore, global convergence properties of the formation algorithm are analyzed. Both the results of simulations and experiments show good performance of the proposed formation algorithm.
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Wang, S., Qin, J., Liu, Q., Kang, Y. (2018). A Novel Variable-Gain Rectilinear or Circular Formation Algorithm for Unicycle Type Vehicles. In: Chen, Z., Mendes, A., Yan, Y., Chen, S. (eds) Intelligent Robotics and Applications. ICIRA 2018. Lecture Notes in Computer Science(), vol 10984. Springer, Cham. https://doi.org/10.1007/978-3-319-97586-3_6
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DOI: https://doi.org/10.1007/978-3-319-97586-3_6
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