Discrete-time distributed optimal entrapment for multi-robot systems using bearing measurements
FU Ying-bo
YANG Zi-wen
ZHU Shan-ying
CHEN Cai-lian
Abstract：In this paper,we investigate the problem of simultaneous localization and entrapment of a static target by robots with discrete-time dynamics.Firstly,aiming to lead the multi-robot system to move on an arbitrarily shaped orbit in an arbitrarily shaped formation,a scheme for path planning based on the virtual system is proposed.Secondly,in order to locate and entrap the target without global positioning information of robots,a joint discrete-time estimator-controller using relative bearing-only measurements is proposed.The estimator is designed by exploiting the orthogonality property,and based on this estimator,the controller is developed.Using LaSalle's theorem for the discrete systems and iterative method,we propose the sufficient conditions under which the convergence of estimation error and tracking error is proved.Moreover,to improve the overall performance,an optimal gains tuning method is developed,so that discrete-time robots can achieve the desired formation at a faster convergence speed.Finally,simulation results are presented to verify the effectiveness of the overall scheme.
Keywords：multi-robot systemsdiscrete-timebearing-only measurementsoptimal gains
Publication Date：2022-10-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：10( 1815-1824 )