Similar Formation Control via Range and Odometry Measurements
研究多机器人系统的相似编队控制问题，提出一种结合相对定位和编队控制的方案，利用机器人间及机器人与地标间的距离测量和自身里程计测量，使机器人系统形成给定模板的相似变换配置，并通过持续激励信号实现全局渐近收敛。
This article investigates the similar formation control problem for multirobot systems. Specifically, we propose an integrated relative localization and similar formation control scheme to navigate multirobot systems to a desired configuration, which is a similar transformation of a given template, based on interrobot and robot-landmark range measurements and odometry measurements of robots themselves. To achieve the exact relative localization, a persistent excitation (P.E.) signal is introduced in the controller which, however, perturbs the motion of each robot and affects the formation accuracy. To resolve the conflict, an autonomous system with its output regulated by a carefully designed function of range measurements is introduced to generate the persistent excitation. It is proved that the similar formation control problem can be solved by our proposed scheme with global asymptotic convergence for directed acyclic graphs (DAGs). Both numerical simulation and physical experiment are presented to verify and validate the effectiveness of our theoretical findings.