Modeling and Controlling a Robotic Convoy Using Guidance Laws Strategies

Abstract

Abstract-This paper deals with the problem of modeling and controlling a robotic convoy. Guidance laws techniques are used to provide a mathematical formulation of the problem. The guidance laws used for this purpose are the velocity pursuit, the deviated pursuit, and the proportional navigation. The velocity pursuit equations model the robot's path under various sensors based control laws. A systematic study of the tracking problem based on this technique is undertaken. These guidance laws are applied to derive decentralized control laws for the angular and linear velocities. For the angular velocity, the control law is directly derived from the guidance laws after considering the relative kinematics equations between successive robots. The second control law maintains the distance between successive robots constant by controlling the linear velocity. This control law is derived by considering the kinematics equations between successive robots under the considered guidance law. Properties of the method are discussed and proven. Simulation results confirm the validity of our approach, as well as the validity of the properties of the method.

Control de un convoy robótico mediante planificación de rutas y estrategias de orientación

“…Existen esquemas que incluyen sistemas de triangulación para evitar rutas que puedan bloquear y Belkhouche, 2005). Es importante destacar que los primeros algoritmos desarrollados contaban con información precargada en donde el entorno era totalmente conocido así como el recorrido a realizar, basándose en métodos conocidos y efectivos, como distancia de aproximación y los campos de potencial (Brackstone y McDonald, 1999).…”

Three-Dimensional Target Tracking Based on Velocity Pursuit

“…Tracking and interception of moving target using mobile robots is a vital field [1][2][3][4][5][6][7]. In [1], the control of a wheeled mobile robot to track a moving target with limited control inputs is studied.…”

“…In [4], a kinematics model for the tracking problem is derived and two strategies are suggested for robot navigation, namely the velocity pursuit guidance law and the deviated pursuit guidance law. The theoretical framework of controlling a convoy of wheeled mobile robots is considered in [5], where the control strategy is derived on guidance laws based on geometrical rules. Combining geometrical rules with the kinematics equations of the robot, a new approach is designed in [6] for robot navigation using the proportional navigation law.…”

“…Different from the study of [4] and [5], the three-dimensional scalar kinematic equations given in [8] are applied to design the control strategy of tracking. Based on the study in [7], a surveillance problem of intercepting and maintaining the target at constant distance from the moving pursuer will be further considered in the three-dimensional space.…”

Formation Tracking with Orientation Convergence for Groups of Unicycles

“…The analysis is devoted to the case of the leader-follower scheme according to an open chain or convoy configuration [13]. The main aim of the paper is the design of three different control laws that ensure convergence of formation errors and convergence of the leader to the prescribed trajectory.…”