A Novel Variable-Gain Rectilinear or Circular Formation Algorithm for Unicycle Type Vehicles

Shuai Wang; Jiahu Qin; Qingchen Liu; Yu Kang

doi:10.1007/978-3-319-97586-3_6

A Novel Variable-Gain Rectilinear or Circular Formation Algorithm for Unicycle Type Vehicles

Shuai Wang, Jiahu Qin^*, Qingchen Liu, Yu Kang

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we propose a novel variable-gain formation algorithm to steer a group of unicycle type vehicles moving in straight lines or circular orbits with three types of phase configurations (synchronized, balanced and stabilization of the average linear momentum). The algorithm design is carried out from the viewpoint of optimization theory to guarantee that control gains are variable. Specifically, a step length search algorithm used in optimization methods is employed to update the control gain at each iteration. The implementation details of the rectilinear/circular formation algorithm are given to show that the three types of phase configurations can be reached by utilizing corresponding well-designed objective functions. Furthermore, global convergence properties of the formation algorithm are analyzed. Both the results of simulations and experiments show good performance of the proposed formation algorithm.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings
Editors	Shifeng Chen, Zhiyong Chen, Alexandre Mendes, Yamin Yan
Publisher	Springer Verlag
Pages	71-80
Number of pages	10
ISBN (Print)	9783319975856
DOIs	https://doi.org/10.1007/978-3-319-97586-3_6
Publication status	Published - 2018
Event	11th International Conference on Intelligent Robotics and Applications, ICIRA 2018 - Newcastle, Australia Duration: 9 Aug 2018 → 11 Aug 2018

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	10984 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	11th International Conference on Intelligent Robotics and Applications, ICIRA 2018
Country/Territory	Australia
City	Newcastle
Period	9/08/18 → 11/08/18

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10.1007/978-3-319-97586-3_6

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Wang, S., Qin, J., Liu, Q., & Kang, Y. (2018). A Novel Variable-Gain Rectilinear or Circular Formation Algorithm for Unicycle Type Vehicles. In S. Chen, Z. Chen, A. Mendes, & Y. Yan (Eds.), Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings (pp. 71-80). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10984 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-319-97586-3_6

Wang, Shuai ; Qin, Jiahu ; Liu, Qingchen et al. / A Novel Variable-Gain Rectilinear or Circular Formation Algorithm for Unicycle Type Vehicles. Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings. editor / Shifeng Chen ; Zhiyong Chen ; Alexandre Mendes ; Yamin Yan. Springer Verlag, 2018. pp. 71-80 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{e1e658722d3148a3a20cd0e85f964083,

title = "A Novel Variable-Gain Rectilinear or Circular Formation Algorithm for Unicycle Type Vehicles",

abstract = "In this paper, we propose a novel variable-gain formation algorithm to steer a group of unicycle type vehicles moving in straight lines or circular orbits with three types of phase configurations (synchronized, balanced and stabilization of the average linear momentum). The algorithm design is carried out from the viewpoint of optimization theory to guarantee that control gains are variable. Specifically, a step length search algorithm used in optimization methods is employed to update the control gain at each iteration. The implementation details of the rectilinear/circular formation algorithm are given to show that the three types of phase configurations can be reached by utilizing corresponding well-designed objective functions. Furthermore, global convergence properties of the formation algorithm are analyzed. Both the results of simulations and experiments show good performance of the proposed formation algorithm.",

keywords = "Formation control, Optimization methods, Phase configuration, Unicycle type vehicles",

author = "Shuai Wang and Jiahu Qin and Qingchen Liu and Yu Kang",

note = "Publisher Copyright: {\textcopyright} 2018, Springer Nature Switzerland AG.; 11th International Conference on Intelligent Robotics and Applications, ICIRA 2018 ; Conference date: 09-08-2018 Through 11-08-2018",

year = "2018",

doi = "10.1007/978-3-319-97586-3_6",

language = "English",

isbn = "9783319975856",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "71--80",

editor = "Shifeng Chen and Zhiyong Chen and Alexandre Mendes and Yamin Yan",

booktitle = "Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings",

address = "Germany",

}

Wang, S, Qin, J, Liu, Q & Kang, Y 2018, A Novel Variable-Gain Rectilinear or Circular Formation Algorithm for Unicycle Type Vehicles. in S Chen, Z Chen, A Mendes & Y Yan (eds), Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 10984 LNAI, Springer Verlag, pp. 71-80, 11th International Conference on Intelligent Robotics and Applications, ICIRA 2018, Newcastle, Australia, 9/08/18. https://doi.org/10.1007/978-3-319-97586-3_6

A Novel Variable-Gain Rectilinear or Circular Formation Algorithm for Unicycle Type Vehicles. / Wang, Shuai; Qin, Jiahu; Liu, Qingchen et al.
Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings. ed. / Shifeng Chen; Zhiyong Chen; Alexandre Mendes; Yamin Yan. Springer Verlag, 2018. p. 71-80 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 10984 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A Novel Variable-Gain Rectilinear or Circular Formation Algorithm for Unicycle Type Vehicles

AU - Wang, Shuai

AU - Qin, Jiahu

AU - Liu, Qingchen

AU - Kang, Yu

PY - 2018

Y1 - 2018

N2 - In this paper, we propose a novel variable-gain formation algorithm to steer a group of unicycle type vehicles moving in straight lines or circular orbits with three types of phase configurations (synchronized, balanced and stabilization of the average linear momentum). The algorithm design is carried out from the viewpoint of optimization theory to guarantee that control gains are variable. Specifically, a step length search algorithm used in optimization methods is employed to update the control gain at each iteration. The implementation details of the rectilinear/circular formation algorithm are given to show that the three types of phase configurations can be reached by utilizing corresponding well-designed objective functions. Furthermore, global convergence properties of the formation algorithm are analyzed. Both the results of simulations and experiments show good performance of the proposed formation algorithm.

AB - In this paper, we propose a novel variable-gain formation algorithm to steer a group of unicycle type vehicles moving in straight lines or circular orbits with three types of phase configurations (synchronized, balanced and stabilization of the average linear momentum). The algorithm design is carried out from the viewpoint of optimization theory to guarantee that control gains are variable. Specifically, a step length search algorithm used in optimization methods is employed to update the control gain at each iteration. The implementation details of the rectilinear/circular formation algorithm are given to show that the three types of phase configurations can be reached by utilizing corresponding well-designed objective functions. Furthermore, global convergence properties of the formation algorithm are analyzed. Both the results of simulations and experiments show good performance of the proposed formation algorithm.

KW - Formation control

KW - Optimization methods

KW - Phase configuration

KW - Unicycle type vehicles

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U2 - 10.1007/978-3-319-97586-3_6

DO - 10.1007/978-3-319-97586-3_6

M3 - Conference contribution

SN - 9783319975856

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 71

EP - 80

BT - Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings

A2 - Chen, Shifeng

A2 - Chen, Zhiyong

A2 - Mendes, Alexandre

A2 - Yan, Yamin

PB - Springer Verlag

T2 - 11th International Conference on Intelligent Robotics and Applications, ICIRA 2018

Y2 - 9 August 2018 through 11 August 2018

ER -

Wang S, Qin J, Liu Q, Kang Y. A Novel Variable-Gain Rectilinear or Circular Formation Algorithm for Unicycle Type Vehicles. In Chen S, Chen Z, Mendes A, Yan Y, editors, Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings. Springer Verlag. 2018. p. 71-80. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-319-97586-3_6

A Novel Variable-Gain Rectilinear or Circular Formation Algorithm for Unicycle Type Vehicles

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