Rendezvous of Nonholonomic Unmanned Ground Vehicles with Ultra-Wide-Angle Cameras
Abstract
:1. Introduction
- For the rendezvous problem of the multi-UGV cluster under the constraint of ultra-wide-angle camera sensing, the output feedback FOV constraint consensus control is proposed, which effectively improves the control accuracy of the formation;
- To address the UGV communication challenges posed by restricted viewing angles, the sliding mode surface is optimized using an FOV-constrained potential function, minimizing the risk of inter-UGV collisions;
- Aiming at the consensus problem of multiple UGV outputs with communication delays and unpredictable velocities, this paper proposes an underactuated second-order system based on virtual spring connections, aiming to enhance the formation stability of UGVs subject to external disturbances.
2. Problem Description
2.1. Unmanned Ground Vehicle (UGV) Model
2.2. Control Objective
- (1)
- The UGV is required to join in formation near a non-predefined rendezvous point, which can be described as:
- (2)
- Each UGV has the same angular velocity and the same direction of heading; it can be described as:
2.3. FOV Constraint
2.3.1. Ultra-Wide-Angle Cameras
2.3.2. Potential Function
- (a)
- Angle-based potential functionA smooth FOV transition region is introduced; the size of the transition region is expressed by tuning parameters . Let the angle of i with respect to j be s. Therefore, the angle-based potential function can be expressed as:
- (b)
- Distance-based potential functionDesign a tuning parameter , satisfying . Then, the potential function based on distance can be expressed as:
2.4. Time Delay and Unmeasurable Velocity
3. Control Design
3.1. Output Feedback Consensus Control
3.1.1. Angular Consensus
3.1.2. Position Consensus
3.2. Output Feedback Consensus Control with Communication Delay
3.2.1. Main Result
3.2.2. Stability Proof
- (1)
- Bounded trajectories
- (2)
- Vanishing of the consensus errors
4. Simulation
4.1. Set Up
- kg , m = 5.64 kg, r = 0.09 m and R = 0.157 m.
4.2. Consensus Analysis
4.2.1. Parameters of the Controller and Desired Values
4.2.2. Simulation Results and Analysis
4.3. Rendezvous Control Performance and FOV Constraint Analysis
4.3.1. Parameters of the Controller and Desired Values
4.3.2. Simulation Results and Analysis
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
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Index | |||||
---|---|---|---|---|---|
1 | 0 | 0 | 1.57 | 2 | 0 |
2 | 0 | 0 | −0.39 | 1 | 2 |
3 | 0 | 0 | 0 | −1 | 2 |
4 | 0 | 0 | 0.39 | −1 | −2 |
Index | |||||
---|---|---|---|---|---|
1 | 4 | 15 | 1.57 | −1 | 1 |
2 | 1 | 3 | 0 | −1 | −1 |
3 | 18 | 5 | −0.39 | 1 | −1 |
4 | 22 | 10 | −0.39 | 1 | 1 |
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Li, L.; Wang, Y.; Xiong, C.; Shang, W. Rendezvous of Nonholonomic Unmanned Ground Vehicles with Ultra-Wide-Angle Cameras. World Electr. Veh. J. 2024, 15, 370. https://doi.org/10.3390/wevj15080370
Li L, Wang Y, Xiong C, Shang W. Rendezvous of Nonholonomic Unmanned Ground Vehicles with Ultra-Wide-Angle Cameras. World Electric Vehicle Journal. 2024; 15(8):370. https://doi.org/10.3390/wevj15080370
Chicago/Turabian StyleLi, Lijun, Yuanda Wang, Chao Xiong, and Wei Shang. 2024. "Rendezvous of Nonholonomic Unmanned Ground Vehicles with Ultra-Wide-Angle Cameras" World Electric Vehicle Journal 15, no. 8: 370. https://doi.org/10.3390/wevj15080370