NDLI: Coordinated Path Following Control of Multiple Wheeled Robots with Directed Communication Links

Content Provider	IEEE Xplore Digital Library
Author	Ghabcheloo, R. Pascoal, A. Silvestre, C. Kaminer, I.
Copyright Year	2005
Description	Author affiliation: Institute for Systems and Robotics (ISR) and Department of Electrical Engineering, Instituto Superior Técnico (IST), Av. Rovisco Pais 1, 1049-001 Lisbon, Portugal, reza@isr.ist.utl.pt. (Ghabcheloo, R.)
Abstract	The paper addresses the problem of steering a fleet of wheeled robots along a set of given spatial paths, while keeping a desired inter-vehicle formation pattern. This problem arises for example when multiple vehicles are required to scan a given area in cooperation. In a possible mission scenario, one of the vehicles acts as a leader and follows a path accurately, while the other vehicles follow paths that are naturally determined by the formation pattern imposed. The solution adopted for coordinated path following builds on Lyapunov-based techniques and addresses explicitly the constraints imposed by the topology of the inter-vehicle communications network, which is captured in the framework of directed graph theory. With this set-up, path following (in space) and inter-vehicle coordination (in time) are essentially decoupled. Path following for each vehicle amounts to reducing a conveniently defined error variable to zero. Vehicle coordination is achieved by adjusting the speed of each of the vehicles along its path, according to information on the position of the other vehicles, as determined by the communications topology adopted. Simulations illustrate the efficacy of the solution proposed.
Starting Page	7084
Ending Page	7089
File Size	243440
Page Count	6
File Format	PDF
ISBN	0780395670
DOI	10.1109/CDC.2005.1583303
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-12-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	IEEE/EUCA
Subject Keyword	Communication system control Mobile robots Robot kinematics Communication networks Motion control Graph theory Remotely operated vehicles Orbital robotics Aerospace control Laplace equations Wheeled Robots Coordinated Motion Control Nonlinear Control Path Following Graph Theory
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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