InPTC: Integrated Planning and Tube-Following Control for Prescribed-Time Collision-Free Navigation of Wheeled Mobile Robots
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arXiv
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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2023
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| _version_ | 1866914924600492032 |
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| author | Shao, Xiaodong Zhang, Bin Zhi, Hui Romero, Jose Guadalupe Fan, Bowen Hu, Qinglei Navarro-Alarcon, David |
| author_facet | Shao, Xiaodong Zhang, Bin Zhi, Hui Romero, Jose Guadalupe Fan, Bowen Hu, Qinglei Navarro-Alarcon, David |
| contents | In this article, we propose a novel approach, called InPTC (Integrated Planning and Tube-Following Control), for prescribed-time collision-free navigation of wheeled mobile robots in a compact convex workspace cluttered with static, sufficiently separated, and convex obstacles. A path planner with prescribed-time convergence is presented based upon Bouligand's tangent cones and time scale transformation (TST) techniques, yielding a continuous vector field that can guide the robot from almost all initial positions in the free space to the designated goal at a prescribed time, while avoiding entering the obstacle regions augmented with safety margin. By leveraging barrier functions and TST, we further derive a tube-following controller to achieve robot trajectory tracking within a prescribed time less than the planner's settling time. This controller ensures the robot moves inside a predefined ``safe tube'' around the reference trajectory, where the tube radius is set to be less than the safety margin. Consequently, the robot will reach the goal location within a prescribed time while avoiding collision with any obstacles along the way. The proposed InPTC is implemented on a Mona robot operating in an arena cluttered with obstacles of various shapes. Experimental results demonstrate that InPTC not only generates smooth collision-free reference trajectories that converge to the goal location at the preassigned time of $250\,\rm s$ (i.e., the required task completion time), but also achieves tube-following trajectory tracking with tracking accuracy higher than $0.01\rm m$ after the preassigned time of $150\,\rm s$. This enables the robot to accomplish the navigation task within the required time of $250\,\rm s$. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2312_11930 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | InPTC: Integrated Planning and Tube-Following Control for Prescribed-Time Collision-Free Navigation of Wheeled Mobile Robots Shao, Xiaodong Zhang, Bin Zhi, Hui Romero, Jose Guadalupe Fan, Bowen Hu, Qinglei Navarro-Alarcon, David Robotics Systems and Control In this article, we propose a novel approach, called InPTC (Integrated Planning and Tube-Following Control), for prescribed-time collision-free navigation of wheeled mobile robots in a compact convex workspace cluttered with static, sufficiently separated, and convex obstacles. A path planner with prescribed-time convergence is presented based upon Bouligand's tangent cones and time scale transformation (TST) techniques, yielding a continuous vector field that can guide the robot from almost all initial positions in the free space to the designated goal at a prescribed time, while avoiding entering the obstacle regions augmented with safety margin. By leveraging barrier functions and TST, we further derive a tube-following controller to achieve robot trajectory tracking within a prescribed time less than the planner's settling time. This controller ensures the robot moves inside a predefined ``safe tube'' around the reference trajectory, where the tube radius is set to be less than the safety margin. Consequently, the robot will reach the goal location within a prescribed time while avoiding collision with any obstacles along the way. The proposed InPTC is implemented on a Mona robot operating in an arena cluttered with obstacles of various shapes. Experimental results demonstrate that InPTC not only generates smooth collision-free reference trajectories that converge to the goal location at the preassigned time of $250\,\rm s$ (i.e., the required task completion time), but also achieves tube-following trajectory tracking with tracking accuracy higher than $0.01\rm m$ after the preassigned time of $150\,\rm s$. This enables the robot to accomplish the navigation task within the required time of $250\,\rm s$. |
| title | InPTC: Integrated Planning and Tube-Following Control for Prescribed-Time Collision-Free Navigation of Wheeled Mobile Robots |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2312.11930 |