Vertex-Weighted Consensus-Based Formation Control with Area Constraints and Collision Avoidance

Vertex-Weighted Consensus-Based Formation Control with Area Constraints and Collision Avoidance

In this paper, a consensus-based formation control strategy is presented, subject to area constraints and collision avoidance. To achieve a desired formation pattern, a control law is proposed that incorporates a vertex-tension function along with signed area constraints. The vertex-tension function...

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Bibliographic Details
Main Authors: Ulises Hernandez-Venegas, Jesus Hernandez-Barragan, Irene Gomez Jimenez, Gabriel Martinez-Soltero, Alma Y. Alanis
Format: Article
Language:English
Published: MDPI AG 2025-01-01
Series:Algorithms
Subjects:
consensus-based control
differential-drive robots
signed area constraints
collision avoidance
Turtlebot3 Waffle Pi
Online Access:https://www.mdpi.com/1999-4893/18/1/45
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