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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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Algorithms |
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| Online Access: | https://www.mdpi.com/1999-4893/18/1/45 |
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| author | Ulises Hernandez-Venegas Jesus Hernandez-Barragan Irene Gomez Jimenez Gabriel Martinez-Soltero Alma Y. Alanis |
| author_facet | Ulises Hernandez-Venegas Jesus Hernandez-Barragan Irene Gomez Jimenez Gabriel Martinez-Soltero Alma Y. Alanis |
| author_sort | Ulises Hernandez-Venegas |
| collection | DOAJ |
| description | 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 provides the capabilities of collision avoidance among agents. Moreover, signed area constraints avoid local minimum stagnation and mitigate ambiguities within the formation shape. Additionally, the proposed approach can be implemented considering a group of differential-drive mobile robots in both centralized and decentralized settings. Simulation and real-world experiments are performed to validate the effectiveness of the proposed approach, where the experimental setup includes a multi-robot system composed of Turtlebot3<sup>®</sup> Waffle Pi robots. |
| format | Article |
| id | doaj-art-0eb4c0605db5433d9b505acbbc52cf31 |
| institution | Kabale University |
| issn | 1999-4893 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Algorithms |
| spelling | doaj-art-0eb4c0605db5433d9b505acbbc52cf312025-01-24T13:17:35ZengMDPI AGAlgorithms1999-48932025-01-011814510.3390/a18010045Vertex-Weighted Consensus-Based Formation Control with Area Constraints and Collision AvoidanceUlises Hernandez-Venegas0Jesus Hernandez-Barragan1Irene Gomez Jimenez2Gabriel Martinez-Soltero3Alma Y. Alanis4Departamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, MexicoDepartamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, MexicoDepartamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, MexicoDepartamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, MexicoDepartamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, MexicoIn 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 provides the capabilities of collision avoidance among agents. Moreover, signed area constraints avoid local minimum stagnation and mitigate ambiguities within the formation shape. Additionally, the proposed approach can be implemented considering a group of differential-drive mobile robots in both centralized and decentralized settings. Simulation and real-world experiments are performed to validate the effectiveness of the proposed approach, where the experimental setup includes a multi-robot system composed of Turtlebot3<sup>®</sup> Waffle Pi robots.https://www.mdpi.com/1999-4893/18/1/45consensus-based controldifferential-drive robotssigned area constraintscollision avoidanceTurtlebot3 Waffle Pi |
| spellingShingle | Ulises Hernandez-Venegas Jesus Hernandez-Barragan Irene Gomez Jimenez Gabriel Martinez-Soltero Alma Y. Alanis Vertex-Weighted Consensus-Based Formation Control with Area Constraints and Collision Avoidance Algorithms consensus-based control differential-drive robots signed area constraints collision avoidance Turtlebot3 Waffle Pi |
| title | Vertex-Weighted Consensus-Based Formation Control with Area Constraints and Collision Avoidance |
| title_full | Vertex-Weighted Consensus-Based Formation Control with Area Constraints and Collision Avoidance |
| title_fullStr | Vertex-Weighted Consensus-Based Formation Control with Area Constraints and Collision Avoidance |
| title_full_unstemmed | Vertex-Weighted Consensus-Based Formation Control with Area Constraints and Collision Avoidance |
| title_short | Vertex-Weighted Consensus-Based Formation Control with Area Constraints and Collision Avoidance |
| title_sort | vertex weighted consensus based formation control with area constraints and collision avoidance |
| topic | consensus-based control differential-drive robots signed area constraints collision avoidance Turtlebot3 Waffle Pi |
| url | https://www.mdpi.com/1999-4893/18/1/45 |
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