Distributed Control for Teams of Non-holonomic Mobile Robots Executing Competitive Tasks

被引：0

作者：

Kowalczyk, Wojciech ^{[1
]}

Joon, Arpit ^{[1
]}

机构：

[1] Poznan Univ Tech, Inst Automat Control & Robot, Piotrowo 3A, PL-60965 Poznan, Poland

来源：

2023 27TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS, MMAR | 2023年

关键词：

multi-robot systems; multi-agent systems; collision avoidance; differentially-driven robot; COLLISION-AVOIDANCE; OBSTACLE AVOIDANCE; TRACKING CONTROL; NAVIGATION;

D O I：

10.1109/MMAR58394.2023.10242404

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Multi-robot systems have been widely used in a variety of applications to perform tasks cooperatively. A greater challenge is to design control when two teams of robots have to compete with each other when performing tasks. This paper presents a control algorithm for teams of differentially-driven mobile robots that perform such a task. The goal of each team is to follow an individual reference trajectory keeping the desired shape of the formation. In the transition state, the robots of one group must penetrate the other team to reach desired poses. Artificial potential functions are used to avoid collisions. They are shaped to reduce the risk of deadlocks between groups of robots. Numerical simulations illustrate the effectiveness of the proposed algorithm.

引用

页码：484 / 489

页数：6

共 50 条

[21] Distributed finite-time control for coordinated circumnavigation with multiple non-holonomic robots
Chunyan Zhang
Yinya Li
Guoqing Qi
Andong Sheng
[J]. Nonlinear Dynamics, 2019, 98 : 573 - 588
[22] An adaptive tracking method for non-holonomic wheeled mobile robots
Liyong, Yue
Wei, Xie
[J]. PROCEEDINGS OF THE 26TH CHINESE CONTROL CONFERENCE, VOL 3, 2007, : 801 - +
[23] A Review of Path Smoothness Approaches for Non-holonomic Mobile Robots
Noreen, Iram
Khan, Amna
Habib, Zulfiqar
[J]. INTELLIGENT COMPUTING, VOL 2, 2019, 857 : 346 - 358
[24] Output Feedback Stabilization of Stochastic Non-holonomic Mobile Robots
Feng, Wenli
Wei, Hongyu
Zhang, Hongmei
Zhang, Dongkai
[J]. PROCEEDINGS OF 2016 CHINESE INTELLIGENT SYSTEMS CONFERENCE, VOL II, 2016, 405 : 121 - 131
[25] Trajectory tracking for non-holonomic mobile robots: A comparison of sliding mode control approaches
Medina, Luis
Guerra, Gabriel
Herrera, Marco
Guevara, Leonardo
Camacho, Oscar
[J]. RESULTS IN ENGINEERING, 2024, 22
[26] Distributed finite-time control for coordinated circumnavigation with multiple non-holonomic robots
Zhang, Chunyan
Li, Yinya
Qi, Guoqing
Sheng, Andong
[J]. NONLINEAR DYNAMICS, 2019, 98 (01) : 573 - 588
[27] Distributed regular polygon formation control and obstacle avoidance for non-holonomic wheeled mobile robots with directed communication topology
Wang, Zhuping
Wang, Lei
Zhang, Hao
Chen, Qijun
Liu, Jingcheng
[J]. IET CONTROL THEORY AND APPLICATIONS, 2020, 14 (09): : 1113 - 1122
[28] A Leader-Follower Approach to Formation Control of Multiple Non-Holonomic Mobile Robots
Petrinic, Toni
Petrovic, Ivan
[J]. 2013 36TH INTERNATIONAL CONVENTION ON INFORMATION AND COMMUNICATION TECHNOLOGY, ELECTRONICS AND MICROELECTRONICS (MIPRO), 2013, : 931 - 935
[29] Adaptive coordinated path following control of non-holonomic mobile robots with quantised communication
Ghommam, J.
Mehrjerdi, H.
Saad, M.
Mnif, F.
[J]. IET CONTROL THEORY AND APPLICATIONS, 2011, 5 (17): : 1990 - 2004
[30] Dynamic feedback tracking control of non-holonomic mobile robots with unknown camera parameters
Wang, Chaoli
Mei, Yingchun
Liang, Zhenying
Jia, Qingwei
[J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2010, 32 (02) : 155 - 169

← 1 2 3 4 5 →