Circumnavigation of a target with nonholonomic mobile robots via dynamic feedback linearization
YI Guo
MAO Jian-xu
WANG Yao-nan
GUO Si-yu
MIAO Zhi-qiang
Abstract：This paper considers the problem of cooperative circumnavigation of a stationary or moving target with a group of autonomous nonholonomic mobile robots. The goal is achieved in a distributed way where each of the robots coordinates its motion knowing its own position and orientation, the orientation of its neighbors, and the position of the target. Firstly, a distributed control strategy using dynamic feedback linearization method is proposed, and a nonlinear function is introduced to control the relative angular spacing between the robots. It is shown that under the proposed control schemes, a group of nonholonomic robots can circumnavigate the stationary or moving target with prescribed radius, circular velocity, and inter-robot angular spacing. Then, explicit stability and convergence analysis are presented using Lyapunov tools. Finally, the experimental platform of multiple mobile robots is constructed, the effectiveness and applicability of the proposed control strategy are demonstrated through numerical simulation and experimental results.
Keywords：target trackingcooperative controlmobile robotsmulti-agent systemsdynamic feedback linearization
Publication Date：2017-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 895-902 )