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Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities

In this paper, we addressed the problem of controlling the position of a group of unicycle-type robots to follow in formation a time-varying reference avoiding obstacles when needed. We propose a kinematic control scheme that, unlike existing methods, is able to simultaneously solve the both tasks i...

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Autores principales: Martinez, Jose Bernardo, Becerra, Hector M., Gomez-Gutierrez, David
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8272089/
https://www.ncbi.nlm.nih.gov/pubmed/34206717
http://dx.doi.org/10.3390/s21134374
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author Martinez, Jose Bernardo
Becerra, Hector M.
Gomez-Gutierrez, David
author_facet Martinez, Jose Bernardo
Becerra, Hector M.
Gomez-Gutierrez, David
author_sort Martinez, Jose Bernardo
collection PubMed
description In this paper, we addressed the problem of controlling the position of a group of unicycle-type robots to follow in formation a time-varying reference avoiding obstacles when needed. We propose a kinematic control scheme that, unlike existing methods, is able to simultaneously solve the both tasks involved in the problem, effectively combining control laws devoted to achieve formation tracking and obstacle avoidance. The main contributions of the paper are twofold: first, the advantages of the proposed approach are not all integrated in existing schemes, ours is fully distributed since the formulation is based on consensus including the leader as part of the formation, scalable for a large number of robots, generic to define a desired formation, and it does not require a global coordinate system or a map of the environment. Second, to the authors’ knowledge, it is the first time that a distributed formation tracking control is combined with obstacle avoidance to solve both tasks simultaneously using a hierarchical scheme, thus guaranteeing continuous robots velocities in spite of activation/deactivation of the obstacle avoidance task, and stability is proven even in the transition of tasks. The effectiveness of the approach is shown through simulations and experiments with real robots.
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spelling pubmed-82720892021-07-11 Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities Martinez, Jose Bernardo Becerra, Hector M. Gomez-Gutierrez, David Sensors (Basel) Article In this paper, we addressed the problem of controlling the position of a group of unicycle-type robots to follow in formation a time-varying reference avoiding obstacles when needed. We propose a kinematic control scheme that, unlike existing methods, is able to simultaneously solve the both tasks involved in the problem, effectively combining control laws devoted to achieve formation tracking and obstacle avoidance. The main contributions of the paper are twofold: first, the advantages of the proposed approach are not all integrated in existing schemes, ours is fully distributed since the formulation is based on consensus including the leader as part of the formation, scalable for a large number of robots, generic to define a desired formation, and it does not require a global coordinate system or a map of the environment. Second, to the authors’ knowledge, it is the first time that a distributed formation tracking control is combined with obstacle avoidance to solve both tasks simultaneously using a hierarchical scheme, thus guaranteeing continuous robots velocities in spite of activation/deactivation of the obstacle avoidance task, and stability is proven even in the transition of tasks. The effectiveness of the approach is shown through simulations and experiments with real robots. MDPI 2021-06-26 /pmc/articles/PMC8272089/ /pubmed/34206717 http://dx.doi.org/10.3390/s21134374 Text en © 2021 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Martinez, Jose Bernardo
Becerra, Hector M.
Gomez-Gutierrez, David
Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities
title Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities
title_full Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities
title_fullStr Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities
title_full_unstemmed Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities
title_short Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities
title_sort formation tracking control and obstacle avoidance of unicycle-type robots guaranteeing continuous velocities
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8272089/
https://www.ncbi.nlm.nih.gov/pubmed/34206717
http://dx.doi.org/10.3390/s21134374
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