Lyapunov-based nonlinear controllers for obstacle avoidance with a planar -link doubly nonholonomic manipulator

Sharma, Bibhya N.; Vanualailai, Jito; Singh, Shonal

doi:10.1016/j.robot.2012.07.014

Cited by 32 publications

(41 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The Lyapunov-based control scheme utilized in this paper has been introduced in numerous applications for various robotic systems including ones tagged with holonomic or nonholonomic constraints [3,22]. It is relatively easier to construct mathematical functions from limitations, inequalities, restrictions, and mechanical constraints tagged to the robotic systems and incorporate them in the controllers derived from LbCS, compared to the other motion and control schemes from literature [3,23,24].…”

Section: Contributionsmentioning

confidence: 99%

A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team

Sharma

Vanualailai

Prasad

2017

Journal of Advanced Transportation

View full text Add to dashboard Cite

This paper describes the design of new centralized acceleration-based controllers for the multitask problem of motion planning and control of a coordinated lead-carrier team fixed in a dual-formation within an obstacle-ridden environment. A -strategy, where and are Euclidean measures with respect to the lead robot, is developed to ensure virtual connectivity of the carrier robots to the lead robot. This connectivity, built into the system itself, inherently ensures globally rigid formation between each lead-carrier pair of the team. Moreover, a combination of target configuration, -strategy, orientation consensus, and avoidance of end-effector of robots results in a second, locally rigid formation (not infinitesimally rigid). Therefore, for the first time, a dual-formation control problem of a lead-carrier team of mobile manipulators is considered. This and other kinodynamic constraints have been treated simultaneously via the overarching Lyapunov-based control scheme, essentially a potential field method favored in the field of robotics. The formulation of this new scheme, demonstrated effectively via computer simulations, is timely, given that the current proposed engineering solutions, allowing autonomous vehicles on public roads, include the development of special lanes imbued with special sensors and wireless technologies.

show abstract

Section: Contributionsmentioning

confidence: 99%

A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team

Sharma

Vanualailai

Prasad

2017

Journal of Advanced Transportation

View full text Add to dashboard Cite

show abstract

“…5 The scheme has been recently applied to motion planning and control of various robotic systems, including ones tagged with holonomic or nonholonomic constraints. 4,26,28 The seminal idea behind this control scheme is to design the attractive and repulsive potential functions which are summed to form a suitable Lyapunov function that acts as an artificial potential field function or total potentials. From this, the nonlinear controllers, centralized or decentralized, velocity or accelerationbased, are extracted.…”

Section: Background On Collision Avoidance Schemesmentioning

confidence: 99%

“…It is mainly because of this reason that only a small number of researchers consider type (nh, nh) manipulators for complex tasks. 11,12,14,28 While the control strategies of mobile manipulators can either be centralized such as in 9,10 or decentralized such as in, [11][12][13] to the best of the authors' knowledge, there is no decentralized acceleration control laws that solve the motion planning and posture control problem of multiple type (nh, nh) manipulators.…”

Section: Contributionsmentioning

confidence: 99%

Motion planning and posture control of multiple n-link doubly nonholonomic manipulators

2015

View full text Add to dashboard Cite

SUMMARYThe paper considers the problem of motion planning and posture control of multiple n-link doubly nonholonomic mobile manipulators in an obstacle-cluttered and bounded workspace. The workspace is constrained with the existence of an arbitrary number of fixed obstacles (disks, rods and curves), artificial obstacles and moving obstacles. The coordination of multiple n-link doubly nonholonomic mobile manipulators subjected to such constraints becomes therefore a challenging navigational and steering problem that few papers have considered in the past. Our approach to developing the controllers, which are novel decentralized nonlinear acceleration controllers, is based on a Lyapunov control scheme that is not only intuitively understandable but also allows simple but rigorous development of the controllers. Via the scheme, we showed that the avoidance of all types of obstacles was possible, that the manipulators could reach a neighborhood of their goal and that their final orientation approximated the desired orientation. Computer simulations illustrate these results.

show abstract

“…While the concept and methods using potential fields are quite well‐established, an array of novel advantages of this new control scheme is a testimony of its wide application in the field of robotics. The control scheme has been introduced in numerous applications for various robotic systems, including ones tagged with holonomic or nonholonomic constraints . It is relatively easier to construct mathematical functions from limitations, inequalities, restrictions, and mechanical constraints tagged to the mechanical systems and subsequently incorporate these into the controllers derived from LbCS, as compared with the other motion and control schemes from the literature .…”

Section: Introductionmentioning

confidence: 99%

“…The LbCS controllers are also elegant and very simple to construct compared to the others in the literature, which are mathematically and computationally intensive, and hence, they avoid complex situations and multiple systems . The scheme has been deployed effectively in complex environments and has also been introduced to biologically inspired concept from the nature …”

Section: Introductionmentioning

confidence: 99%

Navigation of carlike robots in an extended dynamic environment with swarm avoidance

Sharma

Raj

Vanualailai

2017

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

Summary In this paper, we propose a new solution to the motion planning and control problem for a team of carlike mobile robots traversing in an extended dynamic environment. Motivated by the emerging necessity to avoid or defend against a swarm of autonomous robots, the wide array of obstacles in this dynamic environment for the first time includes a swarm of boids governed separately by a system of ordinary differential equations. The swarm exhibits collective emergent behaviors, whereas the carlike mobile robots safely navigate to designated targets. We present a set of nonlinear continuous controllers for obstacle, collision, and swarm avoidance. The controllers provide a collision‐free trajectory within a constrained workspace cluttered with various fixed and moving obstacles while satisfying the nonholonomic and kinodynamic constraints associated with the vehicular robotic system. An advantage of the proposed method is the ease in deriving the acceleration‐based control laws from the Lyapunov‐based control scheme. The effectiveness of the control laws is demonstrated via computer simulations. The novelty of this paper lies in the simplicity of the controllers and the ease in the treatment of an extended dynamic environment, which includes swarm avoidance.

show abstract

Lyapunov-based nonlinear controllers for obstacle avoidance with a planar -link doubly nonholonomic manipulator

Cited by 32 publications

References 13 publications

A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team

A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team

Motion planning and posture control of multiple n-link doubly nonholonomic manipulators

Navigation of carlike robots in an extended dynamic environment with swarm avoidance

Contact Info

Product

Resources

About