@inproceedings{41d8e51790f24a1291444acee30256e7,
title = "Time-varying formation tracking for UGV swarm systems with switching directed topologies",
abstract = "Time-varying formation tracking problems for unmanned ground vehicle (UGV) swarm systems with switching directed topologies are investigated, where the follower UGVs form a predefined time-varying formation while tracking the leader UGV. A consensus based protocol is constructed using local neighboring information and an algorithm consisting of three steps is also proposed to design the protocol. Sufficient conditions for the UGV swarm systems to achieve the time-varying formation tracking with switching directed topologies under the designed protocol are presented using the piecewise Lyapunov Theory. Moreover, based on a Ultra-Wind Band (UWB) based indoor navigation system, an experimental platform consisting of four omni-directional UGVs is introduced. Finally, both simulation and experimental examples are presented to demonstrate the effectiveness of the theoretical results.",
keywords = "Formation tracking control, Swarm system, Switching directed topology, Unmanned ground vehicle (UGV)",
author = "Chuang Lu and Zhenmin Wang and Xiwang Dong and Qingdong Li and Zhang Ren",
note = "Publisher Copyright: {\textcopyright} 2018 Technical Committee on Control Theory, Chinese Association of Automation.; 37th Chinese Control Conference, CCC 2018 ; Conference date: 25-07-2018 Through 27-07-2018",
year = "2018",
month = oct,
day = "5",
doi = "10.23919/ChiCC.2018.8482653",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "7049--7054",
editor = "Xin Chen and Qianchuan Zhao",
booktitle = "Proceedings of the 37th Chinese Control Conference, CCC 2018",
address = "美国",
}