Backward motion planning and control of multiple mobile robots moving in tightly coupled formations

• Autorzy: Ramanathan Kuppan Chetty , Mohan Manju , Dhanraj Joshuva Arockia

Identyfikatory

DOI

10.23743/acs-2021-21

• Języki publikacji: EN

Abstrakty

EN

This work addresses the development of a distributed switching control strategy to drive the group of mobile robots in both backward and forward motion in a tightly coupled geometric pattern, as a solution for the deadlock situation that arises while navigating the unknown environment. A generalized closed-loop tracking controller considering the leader referenced model is used for the robots to remain in the formation while navigating the environment. A tracking controller using the simple geometric approach and the Instantaneous Centre of Radius (ICR), to drive the robot in the backward motion during deadlock situation is developed and presented. State-Based Modelling is used to model the behaviors/motion states of the proposed approach in MATLAB/STATEFLOW environment. Simulation studies are carried out to test the performance and error dynamics of the proposed approach combining the formation, navigation, and backward motion of the robots in all geometric patterns of formation, and the results are discussed.

Słowa kluczowe

EN

multi-robot systems; formation control; behavior-based control; switching strategy; Stateflow

PL

systemy wielorobotowe; kontrola formacji; kontrola behawioralna; strategia przełączania; Stateflow

• Wydawca: Polskie Towarzystwo Promocji Wiedzy ; Lublin University of Technology
• Czasopismo: Applied Computer Science
• Rocznik: 2021
• Tom: Vol. 17, no 3
• Strony: 60--72
• Opis fizyczny: Bibliogr. 20 poz., fig.

Twórcy

autor

Ramanathan Kuppan Chetty

• Hindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103, India

• https://orcid.org/0000-0002-2419-938x

autor

Mohan Manju

• Hindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103, India

• https://orcid.org/0000-0001-5021-9770

autor

Dhanraj Joshuva Arockia

• Hindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103, India

• https://orcid.org/0000-0001-5048-7775

Bibliografia

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• [2] Arkin, R.C. (1998). Behavior-Based Robotics. MIT Press.
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• [7] Kuppan Chetty, R.M., Nagarajan, T., Karsiti, N.B., & Singaperumal, M. (2012). State Based Modelling and Control of a Multi Robot Systems Using Simulink/Stateflow. Journal of Applied Sciences, 12(24), 2494–2502. http://doi.org/jas.2012.2494.2502
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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).