Distributed target tracking and collision avoidance using multiple nonholonomic robots with uncertain dynamics

Zhiyuan Li, Justin Vanness, David Emmanuel Caballero, Naira Hovakimyan, Dušan Stipanović

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper addresses the distributed and coordinated target tracking and collision avoidance using multiple nonholonomic mobile agents whose dynamics are subject to uncertainties and disturbances. A cascaded control architecture is proposed, which consists of a virtual "simulator" and a local tracking controller. The simulators exchange their uncertainty-free states over the network and achieve flocking, while avoiding collisions, using the information from their neighbors. The local tracking law, which consists of an outer-loop guidance law and an inner-loop L1 adaptive control law, solves the tracking problem with respect to the state of the virtual simulator in the presence of plant uncertainties. The guaranteed transient performance of the L1 adaptive controller is essential towards resolving the unavoidable coupling between the communication topology and the system dynamics. Extensive simulation results demonstrate the capability of the proposed algorithms to recover the desired flocking behavior. The proposed algorithms are implemented on an indoor multi-robot platform.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2011
StatePublished - Dec 1 2011
EventAIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States
Duration: Aug 8 2011Aug 11 2011

Publication series

NameAIAA Guidance, Navigation, and Control Conference 2011

Other

OtherAIAA Guidance, Navigation and Control Conference 2011
CountryUnited States
CityPortland, OR
Period8/8/118/11/11

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Li, Z., Vanness, J., Caballero, D. E., Hovakimyan, N., & Stipanović, D. (2011). Distributed target tracking and collision avoidance using multiple nonholonomic robots with uncertain dynamics. In AIAA Guidance, Navigation, and Control Conference 2011 (AIAA Guidance, Navigation, and Control Conference 2011).