Adaptive Formation Control and Collision Avoidance Using a Priority Strategy for Nonholonomic Mobile Robots

被引：8

作者：

Dai, Yanyan ^{[1
]}

Choi, Kyung Sik ^{[1
]}

Lee, Suk Gyu ^{[1
]}

机构：

[1] Yeungnam Univ, Dept Elect Engn, Gyongsan, Gyongbuk, South Korea

来源：

INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2013年 / 10卷

基金：

新加坡国家研究基金会;

关键词：

Formation Control; Collision Priority; Collision Avoidance Algorithm; Adaptive Control; TRACKING CONTROL; NAVIGATION;

D O I：

10.5772/55019

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents four novel collision avoidance processes for nonholonomic mobile robots to generate effective collision-free trajectories when forming and maintaining a formation. A collision priority strategy integrates the static and dynamic collision priorities to avoid a collision efficiently and effectively. In addition, it minimizes the turning angle of the follower robot and decreases system computation time. When avoiding collisions between robots, a novel collision avoidance algorithm is used to find a safe waypoint for the robot, based on the velocity of each robot. An adaptive tracking control algorithm, using the Lyapunov analysis, guarantees that the robot's trajectory and velocity tracking errors converge to zero considering parametric uncertainties of both the kinematic and dynamic models. The simulation and experiment results validate the effectiveness of the proposed method.

引用

页数：14