This paper proposes a gradient tracking algorithm based on artificial harmonic potential fields, to support the platooning of a team of nonholonomic mobile robots. The main motivation is the need of dynamically changing the goal-point associated with each mobile robot, in order to guarantee the platoon string stability. Mobile obstacles are taken into account with an approach based on the so-called collision cone, and a time-varying artificial security radius is associated with each obstacle, in order to prevent collisions. In addition, the proposed method ensures recovering of the connectivity between robots forming the platoon, after that one of them goes far away from the others and loses the connection during an obstacle avoidance maneuver. Finally, the so-called interference index has been evaluated, to show the low impact of robot motion on human behaviors.

Della Vedova, M. L., Rubagotti, M., Facchinetti, T., Ferrara, A., Platooning control of autonomous nonholonomic mobile robots in a human-robot coexisting environment, Contributed paper, in American Control Conference (ACC), 2012, (Montreal, 27-29 June 2012), IEEE, New York 2012: 6569-6574. 10.1109/ACC.2012.6314938 [http://hdl.handle.net/10807/60647]

Platooning control of autonomous nonholonomic mobile robots in a human-robot coexisting environment

Della Vedova, Marco Luigi;
2012

Abstract

This paper proposes a gradient tracking algorithm based on artificial harmonic potential fields, to support the platooning of a team of nonholonomic mobile robots. The main motivation is the need of dynamically changing the goal-point associated with each mobile robot, in order to guarantee the platoon string stability. Mobile obstacles are taken into account with an approach based on the so-called collision cone, and a time-varying artificial security radius is associated with each obstacle, in order to prevent collisions. In addition, the proposed method ensures recovering of the connectivity between robots forming the platoon, after that one of them goes far away from the others and loses the connection during an obstacle avoidance maneuver. Finally, the so-called interference index has been evaluated, to show the low impact of robot motion on human behaviors.
Inglese
American Control Conference (ACC), 2012
American Control Conference (ACC), 2012
Montreal
Contributed paper
27-giu-2012
29-giu-2012
Della Vedova, M. L., Rubagotti, M., Facchinetti, T., Ferrara, A., Platooning control of autonomous nonholonomic mobile robots in a human-robot coexisting environment, Contributed paper, in American Control Conference (ACC), 2012, (Montreal, 27-29 June 2012), IEEE, New York 2012: 6569-6574. 10.1109/ACC.2012.6314938 [http://hdl.handle.net/10807/60647]
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/10807/60647
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