DocumentCode :
3525351
Title :
Bearing-only triangular formation control on the plane and the sphere
Author :
Bishop, Adrian N. ; Basiri, Meysam
Author_Institution :
R. Inst. of Technol. (KTH) in Stockholm, Stockholm, Sweden
fYear :
2010
fDate :
23-25 June 2010
Firstpage :
790
Lastpage :
795
Abstract :
We consider the problem of distributed bearing-only formation control. Each agent measures the inter-agent bearings in a local coordinate system and is tasked at maintaining a specified angular separation relative to its neighbors. The problem we consider differs from other problems in the literature since no inter-agent distance measurements are employed. Each agent´s control law is distributed and based only on its locally measured bearings. A strong convergence result is established which guarantees global convergence of the formation to the desired shape while at the same time ensures that collisions are avoided naturally. We show that the control scheme is robust to agent motion failures and the presence of additional group motion inputs. Finally, we extend our system to the case where the agent´s motion is restricted to a sphere.
Keywords :
Convergence; Manifolds; Nickel; Orbits; Robot sensing systems; Robustness; Shape;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control & Automation (MED), 2010 18th Mediterranean Conference on
Conference_Location :
Marrakech, Morocco
Print_ISBN :
978-1-4244-8091-3
Type :
conf
DOI :
10.1109/MED.2010.5547774
Filename :
5547774
Link To Document :
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