利用方位角信息的移动机器人编队控制

In this paper, the formation control of mobile robots is studied by using the bearing-only measurements. In order to achieve large-scale formation and control its scaling, the agents are divided into the leader, the first follower and the other followers. First of all, motivated by the fact that the relative position information between agents is difficult to be accurately measured, an estimation algorithm is designed for each agent to obtain the accurate relative position. Then, based on the relative position information obtained previously, the control law of the first follower is designed to make the relative position between the first follower and the leader converge to the desired one, which can control the scale of the entire formation. We then proposed a distributed control law for the other followers to achieve the desired formation. Finally, the effectiveness of the algorithm is verified by numerical simulation and experiment in ROS.