Control of Tracking Network for Real UGVs with Disturbance

Abstract

Communication network formation and position control law for multiple unmanned ground vehicles (UGVs) to monitor a moving target at base station is proposed. A monitoring image of the target that acquired by nearby UGV is sent to base station through the communication network. Each UGV forms a communication network and calculates own moving amount with virtual forces using only information in local area. Since an error occurs in movement of real UGV, modified position control law is introduced. Numerical simulation and experiments show the effectiveness of this control law.