Coordinated Dynamic Behaviors for Multirobot Systems With Collision Avoidance

被引：12

作者：

Sabattini, Lorenzo ^{[1
]}

Secchi, Cristian ^{[1
]}

Fantuzzi, Cesare ^{[1
]}

机构：

[1] Univ Modena & Reggio Emilia, Dept Sci & Methods Engn, I-42122 Reggio Emilia, Italy

来源：

IEEE TRANSACTIONS ON CYBERNETICS | 2017年 / 47卷 / 12期

关键词：

Distributed robot systems; multirobot systems; COOPERATIVE CONTROL; MULTIAGENT SYSTEMS; CONSENSUS; CONNECTIVITY; ARCHITECTURE; NETWORKS;

D O I：

10.1109/TCYB.2016.2597100

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose a novel methodology for achieving complex dynamic behaviors in multirobot systems. In particular, we consider a multirobot system partitioned into two subgroups: 1) dependent and 2) independent robots. Independent robots are utilized as a control input, and their motion is controlled in such a way that the dependent robots solve a tracking problem, that is following arbitrarily defined setpoint trajectories, in a coordinated manner. The control strategy proposed in this paper explicitly addresses the collision avoidance problem, utilizing a null space-based behavioral approach: this leads to combining, in a non conflicting manner, the tracking control law with a collision avoidance strategy. The combination of these control actions allows the robots to execute their task in a safe way. Avoidance of collisions is formally proven in this paper, and the proposed methodology is validated by means of simulations and experiments on real robots.

引用

页码：4062 / 4073

页数：12

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