TY - GEN
T1 - Motion coordination of multiple unicycle robotic vehicles under operational constraints in obstacle-cluttered workspaces
AU - Bechlioulis, Charalampos P.
AU - Vlantis, Panagiotis
AU - Kyriakopoulos, Kostas J.
N1 - Funding Information:
This research is carried out/funded in the context of the project “Coordination of Multiple Robotic Vehicles in Obstacle-Cluttered Environments” (MIS 5049094) under the call for proposals “Researchers’ support with an emphasis on young researchers - 2nd Cycle”. The project is co-financed by Greece and the European Union (European Social Fund - ESF) by the Operational Programme Human Resources Development, Education and Lifelong Learning 2014-2020.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/6/22
Y1 - 2021/6/22
N2 - In this work, we consider the problem of coordinating the motion of a platoon of unicycle robots navigating inside an obstacle-cluttered workspace. We assume that each robot is equipped with on-board sensors that allow it to perceive nearby obstacles and obtain its relative position with respect to its preceding robot. Additionally, no robot other than the leader of the team is able to localize itself within the workspace and no centralized communication network exists, i.e., explicit information exchange between the agents is unavailable. To tackle this problem, we adopt a leader-follower architecture and propose a novel, decentralized control law for each robot-follower, based on the Prescribed Performance Control method, which guarantees collision-free tracking and visual connectivity maintenance by ensuring that each follower maintains its predecessor within its camera field of view while keeping static obstacles out of the line of sight for all times. Finally, we verify the efficacy of the proposed control scheme through simulations.
AB - In this work, we consider the problem of coordinating the motion of a platoon of unicycle robots navigating inside an obstacle-cluttered workspace. We assume that each robot is equipped with on-board sensors that allow it to perceive nearby obstacles and obtain its relative position with respect to its preceding robot. Additionally, no robot other than the leader of the team is able to localize itself within the workspace and no centralized communication network exists, i.e., explicit information exchange between the agents is unavailable. To tackle this problem, we adopt a leader-follower architecture and propose a novel, decentralized control law for each robot-follower, based on the Prescribed Performance Control method, which guarantees collision-free tracking and visual connectivity maintenance by ensuring that each follower maintains its predecessor within its camera field of view while keeping static obstacles out of the line of sight for all times. Finally, we verify the efficacy of the proposed control scheme through simulations.
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U2 - 10.1109/MED51440.2021.9480284
DO - 10.1109/MED51440.2021.9480284
M3 - Conference contribution
AN - SCOPUS:85107181861
T3 - 2021 29th Mediterranean Conference on Control and Automation, MED 2021
SP - 590
EP - 595
BT - 2021 29th Mediterranean Conference on Control and Automation, MED 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th Mediterranean Conference on Control and Automation, MED 2021
Y2 - 22 June 2021 through 25 June 2021
ER -