TY - JOUR
T1 - Trajectory Tracking Control of Unicycle Robots with Collision Avoidance and Connectivity Maintenance
AU - Karkoub, Mansour
AU - Atınç, Gokhan
AU - Stipanovic, Dusan
AU - Voulgaris, Petros
AU - Hwang, Andy
N1 - Funding Information:
The work presented here was made possible by NPRP grant# 5-071-2-026 from the Qatar National Research Fund. The findings achieved herein are solely the responsibility of the authors.
Publisher Copyright:
© 2019, Springer Nature B.V.
PY - 2019/12/15
Y1 - 2019/12/15
N2 - In this paper, we focus on a multiple objective control problem for unicycle robots. By utilizing the gradients of collision avoidance and connectivity potential fields in designing reference orientations, we derive control laws for unicycle robots and show that they can track reference trajectories with bounded errors, which can be made arbitrarily small, while avoiding inter-agent collisions and ensuring that the communication among the agents is maintained. Additionally, we present experimental results where we illustrate the effectiveness of our proposed control laws by implementing them on a testbed with mobile robots.
AB - In this paper, we focus on a multiple objective control problem for unicycle robots. By utilizing the gradients of collision avoidance and connectivity potential fields in designing reference orientations, we derive control laws for unicycle robots and show that they can track reference trajectories with bounded errors, which can be made arbitrarily small, while avoiding inter-agent collisions and ensuring that the communication among the agents is maintained. Additionally, we present experimental results where we illustrate the effectiveness of our proposed control laws by implementing them on a testbed with mobile robots.
KW - Collision avoidance
KW - Multi-objective control
KW - Unicycle robots
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U2 - 10.1007/s10846-019-00987-2
DO - 10.1007/s10846-019-00987-2
M3 - Article
AN - SCOPUS:85061487451
SN - 0921-0296
VL - 96
SP - 331
EP - 343
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 3-4
ER -