Publication:
Nonlinear Coordinated Path Following Control of Multiple Wheeled Robots with Bidirectional Communication Constraints

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Authors
Ghabcheloo, R.
Pascoal, A.
Silvestre, C.
Kaminer, I.
Subjects
Coordinated Motion Control
Graph Theory
Path following
Wheeled Robots
Advisors
Date of Issue
2005
Date
2005
Publisher
John Wiley & Sons, Ltd.
Language
Abstract
The paper presents a solution to the problem of steering a group of wheeled robots along given spatial paths, while holding a desired inter-vehicle formation pattern. This problem arises for example when multiple robots are required to search a given area in cooperation. The solution proposed addresses explicitly the dynamics of the cooperating robots and the constraints imposed by the topology of the inter-vehicle communications network. Lyapunov-based techniques and graph theory are brought together to yield a decentralized control structure where the information exchanged among the robots is kept at a minimum. With the set-up proposed, path following (in space) and inter-vehicle coordination (in time) are essentially decoupled. Path following for each vehicle amounts to reducing a conveniently defined error variable to zero. Vehicle coordination is achieved by adjusting the speed of each of the vehicles along its path according to information on the positions and speeds of a subset of the other vehicles, as determined by the communications topology adopted. Simulations illustrate the efficacy of the solution proposed.
Type
Article
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Portuguese FCT POSI programme under framework QCA III
project MAYA-Sub of the AdI
Funder
Portuguese FCT POSI programme under framework QCA III
project MAYA-Sub of the AdI
Format
25 p.
Citation
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING Int. J. Adapt. Control Signal Process. 2005; 00:1–2 Prepared using acsauth.cls [Version: 2002/11/11 v1.00]
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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