A static obstacle collision mitigation control scheme for flexible formation of nonholonomic mobile robots, with experiments

被引：0
|
作者：
Low, Chang Boon [1 ]
Yeo, Ye Chuan [1 ]
机构：
[1] DSO Natl Labs, Manned Unmanned Programme, Singapore, Singapore
来源：
2014 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL (ISIC) | 2014年
关键词：
D O I：
暂无
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, a static obstacle collision mitigation scheme is proposed for flexible formation of nonholonomic mobile robots. The aim of the collision mitigation scheme is to prevent a flexible formation of mobile robots from colliding with online detected static obstacles or to decrease the kinetic energy of the collision through coordinated formation braking. The key thrust of the proposed control scheme is that the scheme is able to guarantee a formation braking solution that prevents a formation of mobile robots from colliding with the detected static obstacles under some practically feasible assumptions. The control scheme is based on an online obstacle collision detection module and a formation braking module equipped on each robot to perform the obstacle collision mitigation. The scheme was validated in numerical simulations and partial experiments were conducted for proof-of-concept in some off-road environments at speeds up to 3 m/sec.
引用
收藏
页码：1589 / 1595
页数：7
相关论文
共 50 条
  • [21] Reciprocal Collision Avoidance for Nonholonomic Mobile Robots
    Wang, Lei
    Li, Zhengguo
    Wen, Changyun
    He, Renjie
    Guo, Fanghong
    2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV), 2018, : 371 - 376
  • [22] Adaptable virtual structure formation tracking control design for nonholonomic tracked mobile robots, with experiments
    Low, Chang Boon
    2015 IEEE 18TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, 2015, : 1868 - 1875
  • [23] Real-time torque control of nonholonomic mobile robots with obstacle avoidance
    Hu, TM
    Yang, SX
    PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL, 2002, : 81 - 86
  • [24] Formation Tracking Control and Formation Stabilization Control of Multiple Nonholonomic Mobile Robots
    Cao, Ke-cai
    Liu, Chunxiang
    PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 6053 - 6058
  • [25] Distributed robust MPC for nonholonomic robots with obstacle and collision avoidance
    Li Dai
    Yanye Hao
    Huahui Xie
    Zhongqi Sun
    Yuanqing Xia
    Control Theory and Technology, 2022, 20 : 32 - 45
  • [26] Collision-Free Formation Control with Decentralized Connectivity Preservation for Nonholonomic-Wheeled Mobile Robots
    Poonawala, Hasan A.
    Satici, Aykut C.
    Eckert, Hazen
    Spong, Mark W.
    IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS, 2015, 2 (02): : 122 - 130
  • [27] Distributed robust MPC for nonholonomic robots with obstacle and collision avoidance
    Dai, Li
    Hao, Yanye
    Xie, Huahui
    Sun, Zhongqi
    Xia, Yuanqing
    CONTROL THEORY AND TECHNOLOGY, 2022, 20 (01) : 32 - 45
  • [28] Feedback stabilization of nonholonomic mobile robots with obstacle avoidance
    Xie Xiaoli
    Yang Tiantian
    Liu Zhiyuan
    2006 CHINESE CONTROL CONFERENCE, VOLS 1-5, 2006, : 695 - +
  • [29] Formation Control of Mobile Robots with Active Obstacle Avoidance
    LIU ShiCai TAN DaLong LIU GuangJun Robotics LaboratoryShenyang Institute of AutomationChinese Academy of SciencesShenyang PRChina Graduate University of the Chinese Academy of SciencesBeijing PRChina Department of Aerospace EngineeringRyerson UniversityToronto MSB KCanada
    自动化学报, 2007, (05) : 529 - 535
  • [30] Formation Control and Obstacle Avoidance for Multiple Mobile Robots
    YANG TianTian LIU ZhiYuan CHEN Hong PEI Run Department of Control Science and EngineeringHarbin Institute of TechnologyHarbin PRChina Department of Control Science and EngineeringJilin UniversityChangchun PRChina
    自动化学报, 2008, (05) : 588 - 592
12345