Trajectory Tracking Control of Unicycle Robots with Collision Avoidance and Connectivity Maintenance Academic Article

abstract

• 2019, Springer Nature B.V. In this paper, we focus on a multiple objective control problem for unicycle robots. By utilizing the gradients of collision avoidance and connectivity potential fields in designing reference orientations, we derive control laws for unicycle robots and show that they can track reference trajectories with bounded errors, which can be made arbitrarily small, while avoiding inter-agent collisions and ensuring that the communication among the agents is maintained. Additionally, we present experimental results where we illustrate the effectiveness of our proposed control laws by implementing them on a testbed with mobile robots.

authors

• Karkoub, Mansour

published proceedings

• JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS

author list (cited authors)

• Karkoub, M., Atinc, G., Stipanovic, D., Voulgaris, P., & Hwang, A.

citation count

• 14

complete list of authors

• Karkoub, Mansour||Atinc, Gokhan||Stipanovic, Dusan||Voulgaris, Petros||Hwang, Andy

publication date

• December 2019

publisher

• Springer Nature  Publisher

published in

• Journal of Intelligent and Robotic Systems: theory and applications  Journal

keywords

• Collision Avoidance
• Multi-objective Control
• Unicycle Robots

Digital Object Identifier (DOI)

• 10.1007/s10846-019-00987-2

start page

• 331

end page

• 343

volume

• 96

issue

• 3-4

URL

• http://dx.doi.org/10.1007/s10846-019-00987-2