Collision-Free Platooning of Mobile Robots through a Set-Theoretic Predictive Control Approach
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866910366993219584 |
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| author | Rajkumar, Suryaprakash Tiriolo, Cristian Lucia, Walter |
| author_facet | Rajkumar, Suryaprakash Tiriolo, Cristian Lucia, Walter |
| contents | This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while followers track the leader's pose with an inter-agent delay. First, the leader and the follower kinematic models are feedback linearized and the platoon's error dynamics and input constraints characterized. Then, a set-theoretic model predictive control strategy is proposed to address the platooning trajectory tracking control problem. An ad-hoc collision avoidance policy is also proposed to guarantee collision avoidance amongst the agents. Finally, the effectiveness of the proposed control architecture is validated through experiments performed on a formation of Khepera IV differential drive robots |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2403_08942 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Collision-Free Platooning of Mobile Robots through a Set-Theoretic Predictive Control Approach Rajkumar, Suryaprakash Tiriolo, Cristian Lucia, Walter Robotics Systems and Control This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while followers track the leader's pose with an inter-agent delay. First, the leader and the follower kinematic models are feedback linearized and the platoon's error dynamics and input constraints characterized. Then, a set-theoretic model predictive control strategy is proposed to address the platooning trajectory tracking control problem. An ad-hoc collision avoidance policy is also proposed to guarantee collision avoidance amongst the agents. Finally, the effectiveness of the proposed control architecture is validated through experiments performed on a formation of Khepera IV differential drive robots |
| title | Collision-Free Platooning of Mobile Robots through a Set-Theoretic Predictive Control Approach |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2403.08942 |