Embedding obstacle avoidance in the control of a flexible multi-robot formation

VTL Rampinelli, AS Brandão, M Sarcinelli-Filho, FN Martinsy, R Carelliz

Research output: Chapter in Book/Report/Conference proceedingContribution to conference proceedingAcademicpeer-review

Abstract

This work proposes a way to make a group of mobile robots which are navigating as a formation to avoid obstacles in their paths. A trajectory tracking controller is proposed to guide the robots during the navigation, to which an obstacle deviation subsystem is added. Such subsystem is implemented in each robot in the formation, whereas the proposed controller is applicable to subsets of three robots. The obstacle deviation is based on virtual forces, which are considered to change the velocities of the individual robots. A proof of the stability of the control system implemented with the proposed controller, including control signal saturation to avoid the saturation of the actuators, is presented, based on the theory of Lyapunov. Simulated and experimental results are also presented, which validate the proposal. © 2010 IEEE.
Original languageEnglish
Title of host publication2010 IEEE International Symposium on Industrial Electronics
Pages1846-1851
DOIs
Publication statusPublished - 1 Jul 2010
Externally publishedYes

Keywords

  • robotics

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