Collision-free tracking control of unicycle mobile robots

D. Kostić; S. Adinandra; J. Caarls; N. van de Wouw; H. Nijmeijer

doi:10.1109/CDC.2009.5400088

Collision-free tracking control of unicycle mobile robots

D. Kostić
, S. Adinandra
, J. Caarls
, N. van de Wouw
, H. Nijmeijer

Dynamics and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

Abstract

We propose a tracking control with collision avoidance for a group of unicycle mobile robots. A supervisory system assigns to each robot its reference path, together with the desired velocity profile as a function of the position along the path. The robot paths and velocity profiles do not necessarily prevent collisions of the robots. Based on the actual robot coordinates, reference velocities of individual robots are coordinated in real-time such as to ensure collision-free robot movements along the assigned paths. The robot motion controllers realize globally asymptotic stable tracking of the reference trajectories under constraints on the actuator inputs. The controllers proposed here offer several advantages with respect to those in the literature, such as better suppression of tracking errors due to more freedom in controller tuning and relaxed constraints on the reference velocities. The suggested tracking control with collision avoidance has successfully been validated in experiments. It can be used for the realization of autonomous transportation tasks in warehouses, harbors, factories, etc.

Original language	English
Title of host publication	Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference
Publisher	Institute of Electrical and Electronics Engineers
Chapter	ThC12.4
Pages	5667-5672
Number of pages	6
ISBN (Print)	978-1-4244-3871-6
DOIs	https://doi.org/10.1109/CDC.2009.5400088
Publication status	Published - 29 Jan 2010
Event	48th IEEE Conference on Decision and Control, CDC 2009 - "Shanghai International Convention Center", Shanghai, China Duration: 15 Dec 2009 → 18 Dec 2009 Conference number: 48

Conference

Conference	48th IEEE Conference on Decision and Control, CDC 2009
Abbreviated title	CDC 2009
Country/Territory	China
City	Shanghai
Period	15/12/09 → 18/12/09
Other	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009

Keywords

Mobile robots
Robot kinematics
Collision avoidance
Velocity control
Robot motion
Motion control
Robot control
Tracking
Trajectory
Actuators

Access to Document

10.1109/CDC.2009.5400088

Cite this

Kostić, D., Adinandra, S., Caarls, J., van de Wouw, N., & Nijmeijer, H. (2010). Collision-free tracking control of unicycle mobile robots. In Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference (pp. 5667-5672). Article 5400088 Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/CDC.2009.5400088

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title = "Collision-free tracking control of unicycle mobile robots",

abstract = "We propose a tracking control with collision avoidance for a group of unicycle mobile robots. A supervisory system assigns to each robot its reference path, together with the desired velocity profile as a function of the position along the path. The robot paths and velocity profiles do not necessarily prevent collisions of the robots. Based on the actual robot coordinates, reference velocities of individual robots are coordinated in real-time such as to ensure collision-free robot movements along the assigned paths. The robot motion controllers realize globally asymptotic stable tracking of the reference trajectories under constraints on the actuator inputs. The controllers proposed here offer several advantages with respect to those in the literature, such as better suppression of tracking errors due to more freedom in controller tuning and relaxed constraints on the reference velocities. The suggested tracking control with collision avoidance has successfully been validated in experiments. It can be used for the realization of autonomous transportation tasks in warehouses, harbors, factories, etc.",

keywords = "Mobile robots, Robot kinematics, Collision avoidance, Velocity control, Robot motion, Motion control, Robot control, Tracking, Trajectory, Actuators",

author = "D. Kosti{\'c} and S. Adinandra and J. Caarls and \{van de Wouw\}, N. and H. Nijmeijer",

year = "2010",

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day = "29",

doi = "10.1109/CDC.2009.5400088",

language = "English",

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booktitle = "Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference",

publisher = "Institute of Electrical and Electronics Engineers",

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note = "48th IEEE Conference on Decision and Control, CDC 2009, CDC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",

}

Kostić, D, Adinandra, S, Caarls, J, van de Wouw, N & Nijmeijer, H 2010, Collision-free tracking control of unicycle mobile robots. in Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference., 5400088, Institute of Electrical and Electronics Engineers, pp. 5667-5672, 48th IEEE Conference on Decision and Control, CDC 2009, Shanghai, China, 15/12/09. https://doi.org/10.1109/CDC.2009.5400088

Collision-free tracking control of unicycle mobile robots. / Kostić, D.; Adinandra, S.; Caarls, J. et al.
Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference. Institute of Electrical and Electronics Engineers, 2010. p. 5667-5672 5400088.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Collision-free tracking control of unicycle mobile robots

AU - Kostić, D.

AU - Adinandra, S.

AU - Caarls, J.

AU - van de Wouw, N.

AU - Nijmeijer, H.

N1 - Conference code: 48

PY - 2010/1/29

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N2 - We propose a tracking control with collision avoidance for a group of unicycle mobile robots. A supervisory system assigns to each robot its reference path, together with the desired velocity profile as a function of the position along the path. The robot paths and velocity profiles do not necessarily prevent collisions of the robots. Based on the actual robot coordinates, reference velocities of individual robots are coordinated in real-time such as to ensure collision-free robot movements along the assigned paths. The robot motion controllers realize globally asymptotic stable tracking of the reference trajectories under constraints on the actuator inputs. The controllers proposed here offer several advantages with respect to those in the literature, such as better suppression of tracking errors due to more freedom in controller tuning and relaxed constraints on the reference velocities. The suggested tracking control with collision avoidance has successfully been validated in experiments. It can be used for the realization of autonomous transportation tasks in warehouses, harbors, factories, etc.

AB - We propose a tracking control with collision avoidance for a group of unicycle mobile robots. A supervisory system assigns to each robot its reference path, together with the desired velocity profile as a function of the position along the path. The robot paths and velocity profiles do not necessarily prevent collisions of the robots. Based on the actual robot coordinates, reference velocities of individual robots are coordinated in real-time such as to ensure collision-free robot movements along the assigned paths. The robot motion controllers realize globally asymptotic stable tracking of the reference trajectories under constraints on the actuator inputs. The controllers proposed here offer several advantages with respect to those in the literature, such as better suppression of tracking errors due to more freedom in controller tuning and relaxed constraints on the reference velocities. The suggested tracking control with collision avoidance has successfully been validated in experiments. It can be used for the realization of autonomous transportation tasks in warehouses, harbors, factories, etc.

KW - Mobile robots

KW - Robot kinematics

KW - Collision avoidance

KW - Velocity control

KW - Robot motion

KW - Motion control

KW - Robot control

KW - Tracking

KW - Trajectory

KW - Actuators

U2 - 10.1109/CDC.2009.5400088

DO - 10.1109/CDC.2009.5400088

M3 - Conference contribution

SN - 978-1-4244-3871-6

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EP - 5672

BT - Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference

PB - Institute of Electrical and Electronics Engineers

T2 - 48th IEEE Conference on Decision and Control, CDC 2009

Y2 - 15 December 2009 through 18 December 2009

ER -

Collision-free tracking control of unicycle mobile robots

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