Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Yu, J; Ji, J; Miao, Z; Zhou, J

Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Yu, J Ji, J

Miao, Z Zhou, J

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Publisher:: CAMBRIDGE UNIV PRESS
Publication Type:: Journal Article
Citation:: Robotica, 2021, 39, (8), pp. 1405-1416
Issue Date:: 2021-08-01

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Field	Value	Language
dc.contributor.author	Yu, J
dc.contributor.author	Ji, J https://orcid.org/0000-0003-3280-5463
dc.contributor.author	Miao, Z
dc.contributor.author	Zhou, J
dc.date.accessioned	2022-05-05T01:16:59Z
dc.date.available	2022-05-05T01:16:59Z
dc.date.issued	2021-08-01
dc.identifier.citation	Robotica, 2021, 39, (8), pp. 1405-1416
dc.identifier.issn	0263-5747
dc.identifier.issn	1469-8668
dc.identifier.uri	http://hdl.handle.net/10453/157029
dc.description.abstract	This paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method.
dc.language	English
dc.publisher	CAMBRIDGE UNIV PRESS
dc.relation.ispartof	Robotica
dc.relation.isbasedon	10.1017/S0263574720001241
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject	0801 Artificial Intelligence and Image Processing, 0906 Electrical and Electronic Engineering, 0913 Mechanical Engineering
dc.subject.classification	Industrial Engineering & Automation
dc.title	Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems
dc.type	Journal Article
utslib.citation.volume	39
utslib.for	0801 Artificial Intelligence and Image Processing
utslib.for	0906 Electrical and Electronic Engineering
utslib.for	0913 Mechanical Engineering
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
dc.date.updated	2022-05-05T01:16:58Z
pubs.issue	8
pubs.publication-status	Published
pubs.volume	39
utslib.citation.issue	8

Abstract:

This paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method.

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http://hdl.handle.net/10453/157029