Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Abstract

SUMMARY This paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method.

Collision-Free Motion Planning for an Aligned Multiple-turret System Operating in Extreme Environment

“…After obtaining the C-Space, the rest is related to path planning algorithms which can be A* [34,35], many variants of rapidly exploring random tree (RRT) [36], probabilistic roadmap (PRM) [37], particle swarm optimization (PSO) [38], and so forth. Apart from these, some papers published recently have also provided guidance [39,40,41,42,43]. In this study, A* path planning algorithm will be used.…”

“…In the study of Raheem and Hussain, torus-shaped C-Space is defined but path planning is made by considering torus-shaped C-Space only as a rectangular-shaped C-Space which limits the system's A bidirectional RRT* used on a torus-shaped manifold [41].…”