Predefined-Time Motion Coordination of Mobile Robots Based on Guiding Vector Fields
摘要
This paper adopts a time-based generator to design the guiding vector fields, such that its integral curves converge to the desired path within a predefined time. A virtual coordinated parameter and a time-varying gain are used to design coordinated vector fields to achieve motion coordination of multiple mobile robots. Control algorithms for robots with dynamics of single-integrator and unicycle, respectively, are put forward such that each robot can track the guiding vector fields. Simulation results and comparisons display the effectiveness of the proposed method.