Authors

Geoff Stacey, Robert Mahony

Abstract

In this paper we consider the problem of formation control using measurements of the bearings between vehicles. We design our system using port-Hamiltonian theory and the bondgraph modelling technique. Our approach builds upon the architecture presented in [22], which relied on partial measurements of relative position rather than position measurements with respect to an inertial frame. The previous work used a generalised form of the image Jacobians employed in image-based visual servo (IBVS) control literature to compute the desired control forces. However, the implementation of these measurement Jacobians requires unknown information about the relative positions of the vehicles. A key contribution of this paper is that we show how a depth observer can be integrated into the design to overcome this problem for the case where bearing measurements are available. Assuming that a single distance measurement is also available, we can specify a rigid goal formation in terms of the available measurements of relative positions. For this system, we prove local convergence to the desired configuration. We then provide a discussion regarding the implementation, and suggest that in practice, the distance measurement may be unnecessary. This discussion is supported by simulation results.

Citation

  • Journal: 52nd IEEE Conference on Decision and Control
  • Year: 2013
  • Volume:
  • Issue:
  • Pages: 7641–7646
  • Publisher: IEEE
  • DOI: 10.1109/cdc.2013.6761102

BibTeX

@inproceedings{Stacey_2013,
  title={{A port-Hamiltonian approach to formation control using bearing measurements and range observers}},
  DOI={10.1109/cdc.2013.6761102},
  booktitle={{52nd IEEE Conference on Decision and Control}},
  publisher={IEEE},
  author={Stacey, Geoff and Mahony, Robert},
  year={2013},
  pages={7641--7646}
}

Download the bib file

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