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Distributed Collision-Avoiding Deployment Control of Multiple Nonholonomic Mobile Robots

[+] Author Affiliations
Xionghui Lu, Yu Zhou, Xu Zhong

State University of New York at Stony Brook, Stony Brook, NY

Paper No. DETC2011-47991, pp. 637-645; 9 pages
doi:10.1115/DETC2011-47991
From:
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME

abstract

This paper presents a distributed second-order control algorithm for deploying a group of nonholonomic mobile robots into an unknown environment to establish and maintain desired sensor coverage. The general control framework is formulated based on Hamilton’s principle. The control input is defined in the form of a potential/force field. A multi-robot collision avoidance scheme is also presented. The effectiveness of the proposed deployment control scheme is verified through both simulations and experiments. Main performance factors, including equilibrium deployment configuration, convergence of inter-robot coverage distance and collision avoidance, are presented and analyzed.

Copyright © 2011 by ASME

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