Collision-free tracking control of unicycle mobile robots

Kostic, D Dragan; Adinandra, Sisdarmanto; Caarls, J Jurjen; Wouw, Nathan van de; Nijmeijer, Henk

doi:10.1109/cdc.2009.5400088

Cited by 19 publications

(20 citation statements)

References 8 publications

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“…Theorem 1: Consider two unicycle-type mobile robots, placed at two different locations, whose kinematics are described by (1). Suppose that the reference position of each robot q ri (t), i = 1, 2 is given as in (10) or (11) and is derived from a common virtual center, whereas the reference orientation is derived from the reference velocities and is subject to a nonholonomic constraint.…”

Section: A Stability Resultsmentioning

confidence: 99%

“…The proposed schemes do not restrict the controller being used, meaning e.g. that the one with saturation constraints on the control signals in [1] can be readily implemented, although particular stability analyses should still be performed. Experiments between two remote setups successfully implement the strategies presented.…”

Section: Discussionmentioning

confidence: 99%

“…Specifically, the use of groups of mobile robots that work together allows for greater flexibility and coverage. Possible applications include logistics [1], payload transportation [2], simultaneous localization and mapping [3], automated highway systems [4], and reconnaissance and surveillance [5], [6]. Additional applications are presented in [7] while a recent overview is provided in [8].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Long distance synchronization of mobile robots

Alvarez-Aguirre

Nijmeijer

Oguchi

2010

Proceedings of the 2010 American Control Conference

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Abstract-This paper considers the long distance masterslave and mutual synchronization of unicycle-type mobile robots. The issues that arise when the elements of a robotic network are placed in different locations are addressed, specifically the time-delay induced by the communication channel linking the robots. Experiments between wirelessly controlled mobile robots located in Eindhoven, The Netherlands and Tokyo, Japan demonstrate the applicability of the proposed approach.

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Section: A Stability Resultsmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Long distance synchronization of mobile robots

Alvarez-Aguirre

Nijmeijer

Oguchi

2010

Proceedings of the 2010 American Control Conference

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“…Such systems do not satisfy Brockett's necessary condition for smooth stabilization [5], so no smooth time-invariant stabilizing control law exists for these systems. A great deal of the research aims at developing suitable time-varying stabilizing and tracking controllers for single nonholonomic systems, see for instance [6][7][8] and the references therein.…”

Section: Introductionmentioning

confidence: 99%

Collision-free motion coordination of unicycle multi-agent systems

Kostic

Adinandra

Caarls

et al. 2010

Proceedings of the 2010 American Control Conference

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We propose a method for collision-free motion coordination of a group of unicycle agents. Under constraints on control signals, this method guarantees asymptotic tracking of the reference trajectories of all individual agents. The motion coordination is established by mutual coupling of coordinates of the interacting agents. For stronger couplings, the robustness of motion coordination to perturbations is increased. A collision avoidance algorithm is formulated to gain additional robustness against perturbations. The proposed control method is successfully validated in experiments.Index Terms-Coordinated control, control of non-holonomic systems, stability of nonlinear systems, collision avoidance.

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“…Potential fields are in general based on external sensors, or when the environment is structured and well known, then internal sensors might be used. A potential field is constructed around the obstacle [2], such that the distance to the obstacle determines a repulsive force. Constructing a potential field around an obstacle implies knowing the dimensions of the object and its position on beforehand.…”

Section: Introductionmentioning

confidence: 99%

A Bio-inspired Autonomous Navigation Controller for Differential Mobile Robots Based on Crowd Dynamics

Rodríguez-Ángeles

Nijmeijer

Kuijk

2016

Lecture Notes in Computer Science

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Abstract. This article extends ideas from crowd dynamics to a navigation controller for mobile robots. Each mobile robot is considered as an agent, associated to a comfort zone with a certain radius, which creates a repulsive force when this comfort zone is violated by its environment or by another agent, therefore avoiding collisions. Meanwhile, attractive forces drive the agents from their instantaneous position to a goal position. The resulting navigation controller is tested by simulations and experiments. It is found that simulations capture the global dynamic behavior that is shown in experiments, showing robustness of the proposed navigation controller.

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Collision-free tracking control of unicycle mobile robots

Cited by 19 publications

References 8 publications

Long distance synchronization of mobile robots

Long distance synchronization of mobile robots

Collision-free motion coordination of unicycle multi-agent systems

A Bio-inspired Autonomous Navigation Controller for Differential Mobile Robots Based on Crowd Dynamics

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