Distributed coordinated path following using guiding vector fields

Weijia Yao; Hector Garcia de Marina; Zhiyong Sun; Ming Cao

doi:10.1109/ICRA48506.2021.9560845

Distributed coordinated path following using guiding vector fields

Weijia Yao, Hector Garcia de Marina, Zhiyong Sun, Ming Cao

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

17 Citations (Scopus)

Abstract

It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a guiding vector field to guide multiple robots to follow possibly different desired paths while coordinating their motions. The vector field uses a path parameter as a virtual coordinate that is communicated among neighboring robots. Then, the virtual coordinate is utilized to control the relative parametric displacement between robots along the paths. This enables us to design a saturated control algorithm for a Dubins-car-like model. The algorithm is distributed, scalable, and applicable for any smooth paths in an n-dimensional configuration space, and global convergence is guaranteed. Simulations with up to fifty robots and outdoor experiments with fixed-wing aircraft validate the theoretical results.

Original language	English
Title of host publication	2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Publisher	Institute of Electrical and Electronics Engineers
Pages	10030-10037
Number of pages	8
ISBN (Electronic)	978-1-7281-9077-8
DOIs	https://doi.org/10.1109/ICRA48506.2021.9560845
Publication status	Published - 18 Oct 2021
Event	2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an, China Duration: 30 May 2021 → 5 Jun 2021 https://www.ieee-icra.org/

Conference

Conference	2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Country/Territory	China
City	Xi'an
Period	30/05/21 → 5/06/21
Internet address	https://www.ieee-icra.org/

Funding

Weijia Yao and Ming Cao are with the University of Groningen, the Netherlands. {w.yao,m.cao}@rug.nl Hector Garcia de Marina is with Universidad Complutense de Madrid, Spain. [email protected] Zhiyong Sun is with the Eindhoven University of Technology, the Netherlands. [email protected] The work of Cao was supported in part by the European Research Council (ERC-CoG-771687) and the Netherlands Organization for Scientific Research (NWO-vidi-14134). The work of Yao is supported in part by the China Scholarship Council. The work of Hector Garcia de Marina is supported by the grant Atraccion de Talento 2019-T2/TIC-13503 from the Government of the Autonomous Community of Madrid.

Funders	Funder number
European Union's Horizon 2020 - Research and Innovation Framework Programme	771687
H2020 European Research Council
Nederlandse Organisatie voor Wetenschappelijk Onderzoek	NWO-vidi-14134
China Scholarship Council

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10.1109/ICRA48506.2021.9560845

Cite this

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title = "Distributed coordinated path following using guiding vector fields",

abstract = "It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a guiding vector field to guide multiple robots to follow possibly different desired paths while coordinating their motions. The vector field uses a path parameter as a virtual coordinate that is communicated among neighboring robots. Then, the virtual coordinate is utilized to control the relative parametric displacement between robots along the paths. This enables us to design a saturated control algorithm for a Dubins-car-like model. The algorithm is distributed, scalable, and applicable for any smooth paths in an n-dimensional configuration space, and global convergence is guaranteed. Simulations with up to fifty robots and outdoor experiments with fixed-wing aircraft validate the theoretical results.",

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booktitle = "2021 IEEE International Conference on Robotics and Automation, ICRA 2021",

publisher = "Institute of Electrical and Electronics Engineers",

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Yao, W, de Marina, HG, Sun, Z & Cao, M 2021, Distributed coordinated path following using guiding vector fields. in 2021 IEEE International Conference on Robotics and Automation, ICRA 2021., 9560845, Institute of Electrical and Electronics Engineers, pp. 10030-10037, 2021 IEEE International Conference on Robotics and Automation, ICRA 2021, Xi'an, China, 30/05/21. https://doi.org/10.1109/ICRA48506.2021.9560845

Distributed coordinated path following using guiding vector fields. / Yao, Weijia; de Marina, Hector Garcia; Sun, Zhiyong et al.
2021 IEEE International Conference on Robotics and Automation, ICRA 2021. Institute of Electrical and Electronics Engineers, 2021. p. 10030-10037 9560845.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AB - It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution, such as environmental monitoring. In this paper, we design a guiding vector field to guide multiple robots to follow possibly different desired paths while coordinating their motions. The vector field uses a path parameter as a virtual coordinate that is communicated among neighboring robots. Then, the virtual coordinate is utilized to control the relative parametric displacement between robots along the paths. This enables us to design a saturated control algorithm for a Dubins-car-like model. The algorithm is distributed, scalable, and applicable for any smooth paths in an n-dimensional configuration space, and global convergence is guaranteed. Simulations with up to fifty robots and outdoor experiments with fixed-wing aircraft validate the theoretical results.

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Distributed coordinated path following using guiding vector fields

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