BACKWARD MOTION PLANNING AND CONTROL OF MULTIPLE MOBILE ROBOTS MOVING IN TIGHTLY COUPLED FORMATIONS
Kuppan Chetty RAMANATHAN
kuppanc@hindustanuniv.ac.inHindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 (India)
Manju MOHAN
Hindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 (India)
Joshuva AROCKIA DHANRAJ
Hindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 (India)
Abstract
This work addresses the development of a distributed switching control strategy to drive the group of mobile robots in both backward and forward motion in a tightly coupled geometric pattern, as a solution for the deadlock situation that arises while navigating the unknown environment. A generalized closed-loop tracking controller considering the leader referenced model is used for the robots to remain in the formation while navigating the environment. A tracking controller using the simple geometric approach and the Instantaneous Centre of Radius (ICR), to drive the robot in the backward motion during deadlock situation is developed and presented. State-Based Modelling is used to model the behaviors/motion states of the proposed approach in MATLAB/STATEFLOW environment. Simulation studies are carried out to test the performance and error dynamics of the proposed approach combining the formation, navigation, and backward motion of the robots in all geometric patterns of formation, and the results are discussed.
Keywords:
Multi-Robot Systems, Formation control, Behavior-Based Control, Switching strategy, StateflowReferences
Alonso-Mora, J., Baker, S., & Rus, D. (2017). Multi-robot formation control and object transport in dynamic environments via constrained optimization. The International Journal of Robotics Research, 36(9), 1000–1021. http://doi.org/10.1177/0278364917719333
DOI: https://doi.org/10.1177/0278364917719333
Google Scholar
Arkin, R.C. (1998). Behavior-Based Robotics. MIT Press.
Google Scholar
Barfoot, T.D., & Clark, C.M. (2004). Motion planning for Formations of Mobile Robots. International Journal of Robotics and Autonomous Systems, 46, 65–78. http://doi.org/10.1016/j.robot.2003.11.004
DOI: https://doi.org/10.1016/j.robot.2003.11.004
Google Scholar
Cheng, J., Wang, B., Zhang, Y., & Wang, Z. (2017). Backward Orientation Tracking Control of Mobile Robot with N Trailers. International Journal of Control, Automation, and Systems, 15, 867–874. http://doi.org/10.1007/s12555-015-0382-7
DOI: https://doi.org/10.1007/s12555-015-0382-7
Google Scholar
Chung, W., Park, M., Yoo, K., Roh, J., and Choi, J. (2011). Backward-motion control of a mobile robot with n passive off-hooked trailers. Journal of Mechanical Science and Technology, 25(11), 2895–2905. http://doi.org/10.1007/s12206-011-0909-7
DOI: https://doi.org/10.1007/s12206-011-0909-7
Google Scholar
Dougherty, R., Ochoa, V., Randles, Z., & Kitts, C. (2004). A Behavioral Control approach to formation keeping through an obstacles field. In Proceedings of the IEEE Aerospace Conference (pp. 168–175, vol. 1). IEEE. http://doi.org/10.1109/AERO.2004.1367602
DOI: https://doi.org/10.1109/AERO.2004.1367602
Google Scholar
Kuppan Chetty, R.M., Nagarajan, T., Karsiti, N.B., & Singaperumal, M. (2012). State Based Modelling and Control of a Multi Robot Systems Using Simulink/Stateflow. Journal of Applied Sciences, 12(24), 2494–2502. http://doi.org/jas.2012.2494.2502
DOI: https://doi.org/10.3923/jas.2012.2494.2502
Google Scholar
Kuppan Chetty, R.M., Singaperumal, M., & Nagarajan, T. (2011a). Behavior Based Multi Robot Formations with Active Obstacle Avoidance Based on Switching Control Strategy. Journal of Advanced Materials Research, 443-440, 6630–6635. http://doi.org/10.4028/www.scientific.net/AMR.433-440.6630
DOI: https://doi.org/10.4028/www.scientific.net/AMR.433-440.6630
Google Scholar
Kuppan Chetty, R.M., Singaperumal, M., & Nagarajan, T. (2011b). Distributed Formation planning and Navigation framework of Wheeled Mobile Robots. Journal of Applied Sciences, 11(9), 1501–1509. http://doi.org/10.3923/jas.2011.1501.1509
DOI: https://doi.org/10.3923/jas.2011.1501.1509
Google Scholar
Kuppan Chetty, R.M., Singaperumal, M., Nagarajan, T., & Inamura, T. (2011). Coordination Control of Wheeled Mobile Robots – A Hybrid Approach. International Journal of Computer Applications in Technology, 41(3/4), 195–204. http://doi.org/10.1504/IJCAT.2011.042695
DOI: https://doi.org/10.1504/IJCAT.2011.042695
Google Scholar
Lee, G., & Chwa, D. (2018). Decentralized behavior-based formation control of multiple robots considering obstacle avoidance. Intelligent Service Robotics, 11, 127–138. http://doi.org/10.1007/s11370-017-0240-y
DOI: https://doi.org/10.1007/s11370-017-0240-y
Google Scholar
Li, X., & Xiao, J. (2005). Robot formation control in Leader-Follower Motion Using Direct Lyapunov Method. International Journal of Intelligent Control and Systems, 10(2), 244–259.
Google Scholar
Ma, Y., Zhang, Y., Cheng, J., & Zhao, Q.J. (2014). Backward Path Tracking of Mobile Robot with Two Trailers. Applied Mechanics and Materials, 716-717, 1512-1517. http://doi.org/10.4028/www.scientific.net/AMM.716-717.1512
DOI: https://doi.org/10.4028/www.scientific.net/AMM.716-717.1512
Google Scholar
Mataric, M.J., & Michaud, F. (2008). Behavior Based Systems. In B. Siciliano & O. Khatib (Eds.), Handbook of Robotics (pp. 891–909). Springer.
DOI: https://doi.org/10.1007/978-3-540-30301-5_39
Google Scholar
Petrov, P. (2010) Nonlinear Backward Tracking Control of an Articulated Mobile Robot with Off axle hitching. In Proceedings of the 9th WSEAS International Conference on Recent Advances in Signal Processing, Robotics and Automation (pp. 269–273). The ACM Digital Library.
Google Scholar
Petukhov, S.V., & Rachkov, M.Y. (2009). Navigation Method of Autonomous Robot Backward Motion by Remembered Landmarks. Mobile Robotics, 19–25. https://doi.org/10.1142/9789814291279_0005
DOI: https://doi.org/10.1142/9789814291279_0005
Google Scholar
Soni, A., & Hu, H. (2018). Formation Control for a Fleet of Autonomous Ground Vehicles: A Survey. Robotics, 7(4), 67. http://doi.org/10.3390/robotics7040067
DOI: https://doi.org/10.3390/robotics7040067
Google Scholar
Wang, Q., & Phillips, C. (2014). Cooperative Path Planning for Multi-Vehicle Systems. Electronics, 3, 636–660. http://doi.org/10.3390/electronics3040636
DOI: https://doi.org/10.3390/electronics3040636
Google Scholar
Werger, B.B., & Mataric, M.J. (2001). From insect to internet: situated control for Networked Robot Teams. Annals of Mathematics and Artificial Intelligence, 31, 173–197. http://doi.org/10.1023/A:1016650101473
DOI: https://doi.org/10.1023/A:1016650101473
Google Scholar
Xu, D., Zhang, X., Zhu, Z., Chen, C., & Yang, P. (2014). Behavior-Based Formation Control of Swarm Robots. Mathematical Problems in Engineering, 2014, 205759. http://doi.org/10.1155/2014/205759
DOI: https://doi.org/10.1155/2014/205759
Google Scholar
Authors
Kuppan Chetty RAMANATHANkuppanc@hindustanuniv.ac.in
Hindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 India
Authors
Manju MOHANHindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 India
Authors
Joshuva AROCKIA DHANRAJHindustan Institute of Technology and Science, Centre for Automation and Robotics, School of Mechanical Sciences, OMR, Rajiv Gandhi Salai, Padur, Chennai - 603103 India
Statistics
Abstract views: 214PDF downloads: 33
License
This work is licensed under a Creative Commons Attribution 4.0 International License.
All articles published in Applied Computer Science are open-access and distributed under the terms of the Creative Commons Attribution 4.0 International License.
Similar Articles
- Noor SABAH, Ekhlas HAMEED, Muayed S AL-HUSEINY, OPTIMAL SLIDING MODE CONTROLLER DESIGN BASED ON WHALE OPTIMIZATION ALGORITHM FOR LOWER LIMB REHABILITATION ROBOT , Applied Computer Science: Vol. 17 No. 3 (2021)
- Anna CZARNECKA, Łukasz SOBASZEK, Antoni ŚWIĆ, 2D IMAGE-BASED INDUSTRIAL ROBOT END EFFECTOR TRAJECTORY CONTROL ALGORITHM , Applied Computer Science: Vol. 14 No. 1 (2018)
- Hawkar ASAAD, Shavan ASKAR, Ahmed KAKAMIN, Nayla FAIQ, EXPLORING THE IMPACT OF ARTIFICIAL INTELLIGENCE ON HUMANROBOT COOPERATION IN THE CONTEXT OF INDUSTRY 4.0 , Applied Computer Science: Vol. 20 No. 2 (2024)
- Nataliya SHABLIY, Serhii LUPENKO, Nadiia LUTSYK, Oleh YASNIY, Olha MALYSHEVSKA, KEYSTROKE DYNAMICS ANALYSIS USING MACHINE LEARNING METHODS , Applied Computer Science: Vol. 17 No. 4 (2021)
- Bartosz CIEŚLA, Grzegorz GUNIA, DEVELOPMENT OF INTEGRATED MANAGEMENT INFORMATION SYSTEMS IN THE CONTEXT OF INDUSTRY 4.0 , Applied Computer Science: Vol. 15 No. 4 (2019)
- Thanh-Lam BUI, Ngoc-Tien TRAN, NAVIGATION STRATEGY FOR MOBILE ROBOT BASED ON COMPUTER VISION AND YOLOV5 NETWORK IN THE UNKNOWN ENVIRONMENT , Applied Computer Science: Vol. 19 No. 2 (2023)
- Ahmed A.H. HAQQANI, Seenu N, Mukund JANARDHANAN, Kuppan Chetty RM, EVALUATION OF ROBOTIC CLEANING TECHNOLOGIES: PRESERVING A BRITISH ICONIC BUILDING , Applied Computer Science: Vol. 16 No. 2 (2020)
- Toufik GHRIB, Yacine KHALDI, Purnendu Shekhar PANDEY, Yusef Awad ABUSAL, ADVANCED FRAUD DETECTION IN CARD-BASED FINANCIAL SYSTEMS USING A BIDIRECTIONAL LSTM-GRU ENSEMBLE MODEL , Applied Computer Science: Vol. 20 No. 3 (2024)
- Grzegorz SUCHANEK, Roman FILIPEK, COMPUTATIONAL FLUID DYNAMICS (CFD) AIDED DESIGN OF A MULTI-ROTOR FLYING ROBOT FOR LOCATING SOURCES OF PARTICULATE MATTER POLLUTION , Applied Computer Science: Vol. 18 No. 3 (2022)
- Ziadeddine MAKHLOUF, Abdallah MERAOUMIA , Laimeche LAKHDAR, Mohamed Yassine HAOUAM , ENHANCING MEDICAL DATA SECURITY IN E-HEALTH SYSTEMS USING BIOMETRIC-BASED WATERMARKING , Applied Computer Science: Vol. 20 No. 1 (2024)
You may also start an advanced similarity search for this article.
