This paper studies the leader–follower circumnavigation problem of two non-holonomic robots using just an angular velocity adjustment. Specifically, two robots orbit around a stationary target along a circle trajectory with a pre-specified spacing distance apart and velocity. However, two robots have no global positioning information and cannot localize the target. Instead, they can just obtain real-time distance-related information with respect to surrounding objects. Based on a leader–follower protocol framework, a distance-based control algorithm is developed to generate saturated control inputs for two robots. Besides, the criteria of the control parameters and initial states are explicitly established. It is demonstrated in detail that, under the established criteria, the developed distance-based control algorithm enables two robots to fulfill the leader–follower circumnavigation objective. Simulation and experiment are carried out to assess and demonstrate the effectiveness of the proposed theoretical results.

中文翻译：

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使用距离相关信息的非完整机器人的领导者-跟随者环球航行控制


本文研究了仅使用角速度调整的两个非完整机器人的领导者-跟随者环球航行问题。具体来说，两个机器人沿着圆形轨迹围绕固定目标以预先指定的间隔距离和速度运行。然而，两个机器人没有全局定位信息，无法定位目标。相反，他们只能获取与周围物体有关的实时距离相关信息。基于领导者-跟随者协议框架，开发了一种基于距离的控制算法来为两个机器人生成饱和控制输入。此外，还明确建立了控制参数和初始状态的标准。详细证明，在既定标准下，开发的基于距离的控制算法使两个机器人能够实现领导者-跟随者环球航行的目标。进行了仿真和实验来评估和证明所提出的理论结果的有效性。