会议论文

Wang, Ran

Xia, Weiguo,Sun, Xi-Ming

2018-01-01

CPCI-S、Scopus

A

2018-October

109-113

car-like robots; circular formation; local position measurements

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.