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论文类型：会议论文

发表时间：2018-01-01

收录刊物：CPCI-S、Scopus

卷号：2018-October

页面范围：109-113

关键字：car-like robots; circular formation; local position measurements

摘要：This paper investigates the circular formation control problem of car-like robots with limited sensing range. A path following strategy is proposed to drive the robots to the target circle by controlling the steering velocity. The forward speed controller is designed using the relative position measurements of neighboring robots to guarantee collision avoidance, and finally makes the robots realize a desired spacing configuration. Simulations on enclosing a static target and a moving target. with circular-formation are both given to validate our results.