Circular and Concentric Formation of Kinematic Unicycles

Muhammad Iqbal, Shun Ichi Azuma, John Leth, Trung Dung Ngo

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

3 Citationer (Scopus)

Abstract

This paper addresses the circular formation and concentric formation stabilization problem of kinematic unicycles. We design distributed control laws driving unicycles to converge to a common circle at the first stage and a velocity control law enabling unicycles to achieve a specific formation on the circle at the second stage. We also achieve the concentric formation by dividing unicycles into groups and design distributed control laws reinforcing each group at a desired circular orbit from the stationary center. We provide analysis to show that both the circular and concentric formations are asymptotically stable using set stabilization theory. Typical examples are selected to demonstrate and support the theoretical results.
OriginalsprogEngelsk
Titel2019 International Conference on Robotics and Automation (ICRA)
Antal sider6
ForlagIEEE
Publikationsdato19 nov. 2019
Sider1081-1086
Artikelnummer19146017
ISBN (Trykt)978-1-5386-8176-3
ISBN (Elektronisk)978-1-5386-6027-0
DOI
StatusUdgivet - 19 nov. 2019
Begivenhed2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Varighed: 20 maj 201924 maj 2019

Konference

Konference2019 International Conference on Robotics and Automation, ICRA 2019
Land/OmrådeCanada
ByMontreal
Periode20/05/201924/05/2019
SponsorBosch, dji, et al., Kinova, Mercedes-Benz, Samsung
NavnProceedings - IEEE International Conference on Robotics and Automation
ISSN1050-4729

Bibliografisk note

Publisher Copyright:
© 2019 IEEE.

Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.

Fingeraftryk

Dyk ned i forskningsemnerne om 'Circular and Concentric Formation of Kinematic Unicycles'. Sammen danner de et unikt fingeraftryk.

Citationsformater