Obstacle avoidance controller generating attainable set-points for the navigation of Multi-Robot System

Benzerrouk, Ahmed; Adouane, Lounis; Martinet, Philippe

doi:10.1109/ivs.2013.6629515

Cited by 8 publications

(5 citation statements)

References 10 publications

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“…Moreover, the proposed control law was implemented in another vehicle (Follower) which takes the first vehicle (Leader) as dynamic target to track at a curvilinear distance equal to 5 m (behind the Leader). The tracking of the dynamic target allows to apply the proposed control law to multi-robot systems where the dynamic set-point is given by the leader and the desired geometric formation shape [32]. The configuration of the dynamic target is sent by the Leader to the Follower via WI-FI.…”

Section: Results Analysismentioning

confidence: 99%

“…Therefore, the vehicle can perform different maneuvers between waypoints, in this case the obstacle avoidance without the use of any trajectory replanning method. The used obstacle avoidance method is based on limit-cycles as given in [6,20] and [32]. It was selected because it is a stable and robust method which could use only local information from range sensors.…”

Section: Results Analysismentioning

confidence: 99%

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A novel safe and flexible control strategy based on target reaching for the navigation of urban vehicles

Vilca

Adouane

Mezouar

2015

Robotics and Autonomous Systems

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h i g h l i g h t s• Novel control strategy based on static/dynamic target reaching for autonomous navigation.• Control law is synthesized using a Lyapunov function based on a new set of variables.• Interesting properties of the control law in terms of stability and flexibility. • Sequential target assignment strategy allows performing safe navigation. • Experiments using actual vehicles and several simulations show the advantages of the proposal. a b s t r a c tThis paper presents a complete framework for reactive and flexible autonomous vehicle navigation. A human driver reactively guides a vehicle to the final destination while performing a smooth trajectory and respecting the road boundaries. The objective of this paper is to achieve similar behavior in an unmanned ground vehicle to reach a static or dynamic target location. This is achieved by using a flexible control law based on a novel definition of control variables and Lyapunov synthesis. Furthermore, a target assignment strategy to enable vehicle navigation through successive waypoints in the environment is presented. An elementary waypoint selection method is also presented to perform safe and smooth trajectories. The asymptotic stability of the proposed control strategy is proved. In addition, an accurate estimation of the maximum error boundary, according to the controller parameters, is given. With this indicator, the vehicle navigation will be safe within a certain boundaries. Simulations and experiments are performed in different cases to demonstrate the flexibility, reliability and efficiency of the control strategy. Our proposal is compared with different navigation methods from the literature such as those based on trajectory following.

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Section: Results Analysismentioning

confidence: 99%

Section: Results Analysismentioning

confidence: 99%

A novel safe and flexible control strategy based on target reaching for the navigation of urban vehicles

Vilca

Adouane

Mezouar

2015

Robotics and Autonomous Systems

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“…Moreover, for a higher safety, a penalty function adapts the robots velocities if they are too close from each other. More details are available in [37].…”

Section: Obstacle Avoidance Controllermentioning

confidence: 99%

Stable navigation in formation for a multi-robot system based on a constrained virtual structure

Benzerrouk

Adouane

Martinet

2014

Robotics and Autonomous Systems

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This paper deals with the navigation in formation of a group of mobile robots. A set of virtual targets (points) forms a virtual structure of the same shape as the desired formation. Hence, to join and to remain in this formation, each robot has only to track one of these targets. In order to track the chosen target, it has to be attainable by the robot despite its kinematic constraints. This paper studies then the maximum allowed dynamic of the virtual structure according to the kinematic constraints of the robots. Both linear and angular velocities of the targets are constrained. Moreover, depending on these velocities, some relative positions (targets) in the formation become unattainable. These positions are also defined. A stable control law allows to attain the generated set-points. Simulation and experimental results validate the proposed contributions.

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“…However, the works do not develop a stable control law and have focused on static obstacles. Dynamic obstacle avoidance is adopted 14 for multi-robot system navigation with using a distributed control architecture to improve the stability and robustness factors in control law.…”

Section: Introductionmentioning

confidence: 99%

Coordinated path-following control of distributed autonomous vehicles with obstacles and collision avoidance

Ghasemi,

Tahmasbi,

Ahmadian

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part C:

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This study presents the path-following control design for a group of autonomous underwater vehicles in a plane with obstacle and collision avoidance. A distributed backstepping controller is exploited for an autonomous vehicle to design a path-following controller. Then, the controller is applied for the path-following of a group of autonomous vehicle systems in the formation setting. The graph theory is used to model the interconnection between the vehicles. To avoid obstacles and collisions, a dynamic limit-cycle-based algorithm is proposed. It is assumed that each obstacle is involved an elliptical shape and if the collision or conflict of one vehicle to the surrounded environmental obstacles is detected, the obstacle avoidance algorithm will be active to prevent collisions. Finally, the introduced algorithm is implemented and simulated for a group of underwater autonomous vehicles in MATLAB software. The simulation results illustrate the effectiveness and performance of the proposed distributed controller apparently.

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Obstacle avoidance controller generating attainable set-points for the navigation of Multi-Robot System

Cited by 8 publications

References 10 publications

A novel safe and flexible control strategy based on target reaching for the navigation of urban vehicles

A novel safe and flexible control strategy based on target reaching for the navigation of urban vehicles

Stable navigation in formation for a multi-robot system based on a constrained virtual structure

Coordinated path-following control of distributed autonomous vehicles with obstacles and collision avoidance

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