A Switched Control Strategy for Avoiding Flip Ambiguities in 3D Formations

IF 3.1 4区计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE

Journal of Intelligent & Robotic Systems Pub Date : 2024-02-23 DOI:10.1007/s10846-023-01967-3

Farid Sahebsara , Marcio de Queiroz

引用次数: 0

Abstract

Flip ambiguities are a notorious issue with distance-based formation control due to the presence of unwanted equilibrium points in the formation dynamics. We propose a switched control system for preventing these ambiguities in 3D formations composed of tetrahedra. The approach contains a switching strategy that steers the formation of mobile robots towards the desired configuration for all initial positions, excluding certain collocated, collinear, or coplanar cases, by applying the standard distance-based controller and/or rigid-body maneuvers to subformations. Simulations demonstrate that the proposed formation control system can lead to faster formation acquisition and less control effort than an existing method.

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避免三维编队翻转模糊的切换控制策略

在基于距离的编队控制中，由于编队动力学中存在不必要的平衡点，翻转模糊是一个臭名昭著的问题。我们提出了一种开关控制系统，用于防止由四面体组成的三维编队中出现这些模糊点。该方法包含一种切换策略，通过对子阵型应用标准的基于距离的控制器和/或刚体操纵，引导移动机器人阵型在所有初始位置（不包括某些同位、共线或共面的情况）朝向所需的配置。模拟结果表明，与现有方法相比，建议的编队控制系统能更快地获得编队，并减少控制工作量。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Intelligent & Robotic Systems 工程技术-机器人学

CiteScore

7.00

自引率

9.10%

发文量

219

审稿时长

6 months

期刊介绍： The Journal of Intelligent and Robotic Systems bridges the gap between theory and practice in all areas of intelligent systems and robotics. It publishes original, peer reviewed contributions from initial concept and theory to prototyping to final product development and commercialization. On the theoretical side, the journal features papers focusing on intelligent systems engineering, distributed intelligence systems, multi-level systems, intelligent control, multi-robot systems, cooperation and coordination of unmanned vehicle systems, etc. On the application side, the journal emphasizes autonomous systems, industrial robotic systems, multi-robot systems, aerial vehicles, mobile robot platforms, underwater robots, sensors, sensor-fusion, and sensor-based control. Readers will also find papers on real applications of intelligent and robotic systems (e.g., mechatronics, manufacturing, biomedical, underwater, humanoid, mobile/legged robot and space applications, etc.).