Spontaneous-Ordering Platoon Control for Multirobot Path Navigation Using Guiding Vector Fields

摘要

In this article, we propose a distributed guiding-vector-field (DGVF) algorithm for a team of robots to form a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">spontaneous-ordering</i> platoon moving along a predefined desired path in the <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$n$</tex-math></inline-formula> -dimensional Euclidean space. Particularly, by adding a path parameter as an additional virtual coordinate to each robot, the DGVF algorithm can eliminate the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">singular points</i> where the vector fields vanish, and govern robots to approach a <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">closed</i> and even <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">self-intersecting</i> desired path. Then, the interactions among neighboring robots and a virtual target robot through their virtual coordinates enable the realization of the desired platoon; in particular, relative parametric displacements can be achieved with arbitrary ordering sequences. Rigorous analysis is provided to guarantee the global convergence of the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">spontaneous-ordering</i> platoon on the common desired path from any initial positions. Two-dimensional experiments using three HUSTER-0.3 unmanned surface vessels (USVs) are conducted to validate the practical effectiveness of the proposed DGVF algorithm, and 3-D numerical simulations are presented to demonstrate its effectiveness and robustness when tackling higher dimensional multirobot path-navigation missions and some robots breakdown.