Formation control of mobile robots based on vision and azimuth measurement information

Maosheng Wei; Yaogao Shen; Jin Huang; Yufan Liu

doi:10.1117/12.2640171

1 August 2022 Formation control of mobile robots based on vision and azimuth measurement information

Maosheng Wei, Yaogao Shen, Jin Huang, Yufan Liu

Proceedings Volume 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022); 122570Q (2022) https://doi.org/10.1117/12.2640171
Event: 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 2022, Guangzhou, China

Abstract

To solve the control problem of formation with limited information of mobile robots, a formation control method based on vision and azimuth measurement information is proposed. In this method, the relative position between the leader and the follower is estimated by using the coordinates of the landmarks of the leading robot on the image plane of the onboard camera of the follower, and the azimuth information of the robot is obtained by using the on-board sensor of the robot. The leader-following formation controller is designed according to the relative position estimation and the measuring azimuth information. Lyapunov stability theory is used to prove the system stability. The joint simulation results of Coppeliasim and Matlab show that formation control method based on vision and azimuth measurement information can make multiple mobile robots form stable formation quickly.

Citation Download Citation

Maosheng Wei, Yaogao Shen, Jin Huang, and Yufan Liu "Formation control of mobile robots based on vision and azimuth measurement information", Proc. SPIE 12257, 4th International Conference on Information Science, Electrical, and Automation Engineering (ISEAE 2022), 122570Q (1 August 2022); https://doi.org/10.1117/12.2640171

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