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

VTL Rampinelli; AS Brandão; M Sarcinelli-Filho; R Carelliz; Felipe Martins

doi:10.1109/ISIE.2010.5637730

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

VTL Rampinelli, AS Brandão, M Sarcinelli-Filho, R Carelliz, Felipe Martins

Centro Leste College

Research output: Chapter in Book/Report/Conference proceeding › Contribution to conference proceeding › Academic › peer-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.
NB The name of the author Felipe Martins was misspelled (an "y" was added to the end by mistake).

Original language	English
Title of host publication	2010 IEEE International Symposium on Industrial Electronics
Pages	1846-1851
DOIs	https://doi.org/10.1109/ISIE.2010.5637730
Publication status	Published - 1 Jul 2010
Externally published	Yes

Keywords

robotics

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10.1109/ISIE.2010.5637730

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title = "Embedding obstacle avoidance in the control of a flexible multi-robot formation",

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. {\textcopyright} 2010 IEEE.NB The name of the author Felipe Martins was misspelled (an {"}y{"} was added to the end by mistake).",

keywords = "robotics, robotica",

author = "VTL Rampinelli and AS Brand{\~a}o and M Sarcinelli-Filho and R Carelliz and Felipe Martins",

year = "2010",

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doi = "10.1109/ISIE.2010.5637730",

language = "English",

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TY - GEN

T1 - Embedding obstacle avoidance in the control of a flexible multi-robot formation

AU - Rampinelli, VTL

AU - Brandão, AS

AU - Sarcinelli-Filho, M

AU - Carelliz, R

AU - Martins, Felipe

PY - 2010/7/1

Y1 - 2010/7/1

N2 - 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.NB The name of the author Felipe Martins was misspelled (an "y" was added to the end by mistake).

AB - 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.NB The name of the author Felipe Martins was misspelled (an "y" was added to the end by mistake).

KW - robotics

KW - robotica

U2 - 10.1109/ISIE.2010.5637730

DO - 10.1109/ISIE.2010.5637730

M3 - Contribution to conference proceeding

SP - 1846

EP - 1851

BT - 2010 IEEE International Symposium on Industrial Electronics

ER -

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

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Keywords

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