scholarly journals Distributed formation control of networked mobile robots in environments with obstacles

Robotica ◽  
2014 ◽  
Vol 34 (6) ◽  
pp. 1403-1415 ◽  
Author(s):  
Whye Leon Seng ◽  
Jan Carlo Barca ◽  
Y. Ahmet Şekercioğlu
Keyword(s):  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Empirical Analysis ◽  
Distributed Control ◽  
Formation Control ◽  
Control Mechanism ◽  
Robot System ◽  
Nonholonomic Robots ◽  
Two Stages ◽  
Robot Communication

SUMMARYA distributed control mechanism for ground moving nonholonomic robots is proposed. It enables a group of mobile robots to autonomously manage formation shapes while navigating through environments with obstacles. The mechanism consists of two stages, with the first being formation control that allows basic formation shapes to be maintained without the need of any inter-robot communication. It is followed by obstacle avoidance, which is designed with maintaining the formation in mind. Every robot is capable of performing basic obstacle avoidance by itself. However, to ensure that the formation shape is maintained, formation scaling is implemented. If the formation fails to hold its shape when navigating through environments with obstacles, formation morphing has been incorporated to preserve the interconnectivity of the robots, thus reducing the possibility of losing robots from the formation.The algorithm has been implemented on a nonholonomic multi-robot system for empirical analysis. Experimental results demonstrate formations completing an obstacle course within 12 s with zero collisions. Furthermore, the system is capable of withstanding up to 25% sensor noise.

DISTRIBUTED FORMATION CONTROL AND OBSTACLE AVOIDANCE OF MULTI-ROBOT SYSTEM

2020 ◽  
Vol 40 (04) ◽  
Author(s):  
HÀ TRỌNG NGHĨA ◽  
TRẦN THANH KẾT ◽  
NGUYỄN TẤN LUỸ
Keyword(s):  
Mobile Robots ◽  
Limit Cycle ◽  
Distributed Control ◽  
Trajectory Tracking ◽  
Formation Control ◽  
Control Algorithm ◽  
Control Method ◽  
Reference Trajectory ◽  
Robot System ◽  
Distributed Control Algorithm

This paper proposes a distributed control method for multi-mobile robots to avoid obstacles. Firstly, the Limit Cycle (LC) method is exploited to set the reference trajectory for robots to avoid obstacles. Secondly, the control rule that control a leading robot following the reference path is introduced. Thirdly, the algorithm that controls robots moving in a formation and avoiding obstacles based on the combination of the LC method and the reference trajectory tracking algorithm. Different from the distributed control algorithm in related documents, the algorithm in this paper ensures that the robot formation is not only maintained but also avoids obstacles when moving to the target. Finally, simulation and experimental results are conducted to verify the effectiveness of the proposed method.

scholarly journals Edge-weighted consensus-based formation control strategy with collision avoidance

Robotica ◽  
2014 ◽  
Vol 33 (2) ◽  
pp. 332-347 ◽  
Author(s):  
Riccardo Falconi ◽  
Lorenzo Sabattini ◽  
Cristian Secchi ◽  
Cesare Fantuzzi ◽  
Claudio Melchiorri
Keyword(s):  
Mobile Robots ◽  
Collision Avoidance ◽  
Obstacle Avoidance ◽  
Control Strategy ◽  
Formation Control ◽  
Weighted Graphs ◽  
Wheeled Robots ◽  
Unknown Environments ◽  
Multi Robot

SUMMARYIn this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. Moreover, results of simulations and experiments on real robots are provided for validation purposes.

Dynamic model based formation control and obstacle avoidance of multi-robot systems

Robotica ◽  
2008 ◽  
Vol 26 (3) ◽  
pp. 345-356 ◽  
Author(s):  
Celso De La Cruz ◽  
Ricardo Carelli
Keyword(s):  
Dynamic Model ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Inverse Dynamics ◽  
Single Equation ◽  
Model Parameters ◽  
Robot System ◽  
System A ◽  
Robot Systems ◽  
Multi Robot

SUMMARYThis work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi-robot formation. A linear parameterization of this model is performed in order to identify the model parameters. Then, the robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a formation control. The controller can be applied both to positioning and to tracking desired robot formations. The formation control can be centralized or decentralized and scalable to any number of robots. A strategy for rigid formation obstacle avoidance is also proposed. Experimental results validate the control system design.

scholarly journals Practical Formation Control for Multiple Anonymous Robots System with Unknown Nonlinear Disturbances

2021 ◽  
Vol 11 (19) ◽  
pp. 9170
Author(s):  
Peng Xu ◽  
Jin Tao ◽  
Minyi Xu ◽  
Guangming Xie
Keyword(s):  
Theoretical Analysis ◽  
Mobile Robots ◽  
Distributed Control ◽  
Formation Control ◽  
Control Method ◽  
Control Law ◽  
Control Problems ◽  
Moving Target ◽  
Whole Process ◽  
Nonlinear Disturbances

This paper mainly investigates formation control problems for a group of anonymous mobile robots with unknown nonlinear disturbances on a plane, in which all robots can asymptotically converge to any formation patterns without collision, and maintain any required relative distance with neighboring robots. To solve this problem, all robots are modeled as kinematic points and can only acquire information from other robots and their targets. Furthermore, a flexible distributed control law is designed to solve the formation problem while no collisions between any robots can be guaranteed during the whole process. The outstanding feature of the proposed control method is that it can force all mobile robots to form not only uniform circle formations but also non-uniform and non-circular formations with moving target centers. At last, both theoretical analysis and numerical simulations show the feasibility of the proposed control law.

scholarly journals Distributed Event-Triggered Circular Formation Control for Multiple Anonymous Mobile Robots With Order Preservation and Obstacle Avoidance

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 167288-167299
Author(s):  
Peng Xu ◽  
Wenxiang Li ◽  
Jin Tao ◽  
Matthias Dehmer ◽  
Frank Emmert-Streib ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Obstacle Avoidance ◽  
Formation Control ◽  
Order Preservation ◽  
Event Triggered
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