Experiments of distributed control for multiple mobile robots with limited sensing/communication capacity

In this paper, we present the experimental testing results of distributed cooperative control algorithms for multiple mobile robots with limited sensing/communication capacity and kinematic constraints. Rendezvous and formation control problems are considered, respectively. To deal with the inherent kinematic constraints with robot model, the input/output linearization via feedback is used to convert the nonlinear robot model into a linear one, and then the distributed cooperative control algorithms are designed via local information exchange among robots. Extensive experiments using Quanser's QBot2 mobile robot platforms are conducted to validate the effectiveness of the proposed distributed cooperative control algorithms. Specifically, the robot's onboard Kinect vision sensor is applied to solve the localization problem, and the information exchange is done through an ad-hoc peer-to-peer wireless TCP/IP connection among neighboring robots. Collision avoidance problem is also addressed based on the utilization of fuzzy logic rules.

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Distributed Algorithms for Controlling Multiple Mobile Robots

10.21236/ada283975 ◽

1994 ◽

Author(s):

Kazuo Sugihara ◽

Ichiro Suzuki

Keyword(s):

Mobile Robots ◽

Distributed Algorithms ◽

Multiple Mobile Robots

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Formation control of multiple mobile robots with prescribed performance

2020 Chinese Control And Decision Conference (CCDC) ◽

10.1109/ccdc49329.2020.9164495 ◽

2020 ◽

Author(s):

Wuxi Shi ◽

Qingwei Wang ◽

Lisen Gong

Keyword(s):

Mobile Robots ◽

Formation Control ◽

Multiple Mobile Robots ◽

Prescribed Performance

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A novel edge gradient algorithm for multiple mobile robots cooperative mapping in unknown environment

International Journal of Advanced Robotic Systems ◽

10.1177/1729881419860380 ◽

2019 ◽

Vol 16 (4) ◽

pp. 172988141986038

Author(s):

Huang Yiqing ◽

Wang Hui ◽

Wei Lisheng ◽

Gao Wengen ◽

Ge Yuan

Keyword(s):

Visual Field ◽

Mobile Robots ◽

Information Exchange ◽

Field Of View ◽

Gradient Algorithm ◽

Movement Direction ◽

Mapping Technique ◽

Map Building ◽

Multiple Mobile Robots ◽

Motion Behavior

This article presented a cooperative mapping technique using a novel edge gradient algorithm for multiple mobile robots. The proposed edge gradient algorithm can be divided into four behaviors such as adjusting the movement direction, evaluating the safety of motion behavior, following behavior, and obstacle information exchange, which can effectively prevent multiple mobile robots falling into concave obstacle areas. Meanwhile, a visual field factor is constructed based on biological principles so that the mobile robots can have a larger field of view when moving away from obstacles. Also, the visual field factor will be narrowed due to the obstruction of the obstacle when approaching an obstacle and the obtained map-building data are more accurate. Finally, three sets of simulation and experimental results demonstrate the performance superiority of the presented algorithm.

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