夏卫国

个人信息Personal Information

教授

博士生导师

硕士生导师

性别:男

毕业院校:格罗宁根大学

学位:博士

所在单位:控制科学与工程学院

学科:控制理论与控制工程

办公地点:海山楼A1118

电子邮箱:wgxiaseu@dlut.edu.cn

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Circular Formation Control of Car-like Robots with Local Position Measurements

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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.