Predictive control and stabilization of nonholonomic formations with integrated spline-path planning

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F16%3A00234501" target="_blank" >RIV/68407700:21230/16:00234501 - isvavai.cz</a>

Result on the web

<a href="http://www.sciencedirect.com/science/article/pii/S092188901500192X" target="_blank" >http://www.sciencedirect.com/science/article/pii/S092188901500192X</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.robot.2015.09.004" target="_blank" >10.1016/j.robot.2015.09.004</a>

Result language

angličtina

Original language name

Predictive control and stabilization of nonholonomic formations with integrated spline-path planning

Original language description

A path planning in the space of multinominals integrated into a model predictive control mechanism for driving formations of autonomous mobile robots is presented in this paper. The proposed approach is designed to stabilize the formations in desired shapes, and to navigate the group into a final position in a partly known environment with dynamic obstacles. In addition, the system provides inter-vehicle coordination and collision avoidance in the event of failure of a team member. The method is aimed at reaching the final position of the formation in the desired shape, but it enables to change temporarily this shape if it is enforced by the environment (in narrow corridors, on response to an impending collision with obstacles and faulty team members, etc.). This autonomous emergent behaviour increases the robustness of the system and its usability. It enables a proper compromise to be found between the formation driving requirement and the effort to fulfil the mission objective, i.e., to move the group from the current state into the required position. In this paper, the convergence of the method and the requirements for stability are shown on the basis of the results of the Lyapunov theorems of stability. These theoretical achievements imply constraints on the applicability of the system, which are verified in numerical simulations and in various tests with real autonomous robots. The performances of the entire system and of independent sub-systems in various formation driving scenarios are also shown in these tests.

Czech name

—

Czech description

—

Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JC - Computer hardware and software

OECD FORD branch

—

Project

<a href="/en/project/GPP103%2F12%2FP756" target="_blank" >GPP103/12/P756: Stabilization of ?-UAV swarms under decentralized relative localization.</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2016

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Robotics and Autonomous Systems

ISSN

0921-8890

e-ISSN

—

Volume of the periodical

75

Issue of the periodical within the volume

January

Country of publishing house

NL - THE KINGDOM OF THE NETHERLANDS

Number of pages

19

Pages from-to

379-397

UT code for WoS article

000367763400020

EID of the result in the Scopus database

2-s2.0-84945545679