Trajectory Tracking Control of Unicycle Robots with Collision Avoidance and Connectivity Maintenance

Mansour Karkoub, Gokhan Atınç, Dusan Stipanovic, Petros Voulgaris, Andy Hwang

Research output: Contribution to journalArticle

Abstract

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.

Original languageEnglish
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
DOIs
Publication statusPublished - 1 Jan 2019

Fingerprint

Collision avoidance
Trajectories
Robots
Testbeds
Mobile robots
Communication

Keywords

  • Collision avoidance
  • Multi-objective control
  • Unicycle robots

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Trajectory Tracking Control of Unicycle Robots with Collision Avoidance and Connectivity Maintenance. / Karkoub, Mansour; Atınç, Gokhan; Stipanovic, Dusan; Voulgaris, Petros; Hwang, Andy.

In: Journal of Intelligent and Robotic Systems: Theory and Applications, 01.01.2019.

Research output: Contribution to journalArticle

@article{2578904eb1fd4171ad957be531cdc482,
title = "Trajectory Tracking Control of Unicycle Robots with Collision Avoidance and Connectivity Maintenance",
abstract = "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.",
keywords = "Collision avoidance, Multi-objective control, Unicycle robots",
author = "Mansour Karkoub and Gokhan Atın{\cc} and Dusan Stipanovic and Petros Voulgaris and Andy Hwang",
year = "2019",
month = "1",
day = "1",
doi = "10.1007/s10846-019-00987-2",
language = "English",
journal = "Journal of Intelligent and Robotic Systems: Theory and Applications",
issn = "0921-0296",
publisher = "Springer Netherlands",

}

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

PY - 2019/1/1

Y1 - 2019/1/1

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

UR - http://www.scopus.com/inward/record.url?scp=85061487451&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85061487451&partnerID=8YFLogxK

U2 - 10.1007/s10846-019-00987-2

DO - 10.1007/s10846-019-00987-2

M3 - Article

JO - Journal of Intelligent and Robotic Systems: Theory and Applications

JF - Journal of Intelligent and Robotic Systems: Theory and Applications

SN - 0921-0296

ER -