Distributed Control Within a Trapezoid Virtual Tube Containing Obstacles for Robotic Swarms Subject to Speed Constraints

In our previous work, we design a trapezoid virtual tube to guide robotic swarms through narrow openings. This article extends the application of the trapezoid virtual tube to the situations where there are static obstacles inside and robots have strict speed constraints. We first propose a distribu...

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Published inIEEE transactions on control of network systems Vol. 12; no. 1; pp. 287 - 299
Main Authors Gao, Yan, Bai, Chenggang, Quan, Quan
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.03.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Collision avoidance
Constraints
Obstacle avoidance
passing-through control
Planning
robotic swarm
Robots
Safety
speed constraint
Switches
Trajectory planning
trapezoid virtual tube
Tubes
Vectors
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Abstract In our previous work, we design a trapezoid virtual tube to guide robotic swarms through narrow openings. This article extends the application of the trapezoid virtual tube to the situations where there are static obstacles inside and robots have strict speed constraints. We first propose a distributed swarm controller for the trapezoid virtual tube without obstacles and present the relationship between the trapezoid virtual tube and speed constraints. Then, a switching logic for obstacle avoidance is proposed by dividing the trapezoid virtual tube containing static obstacles into several subtrapezoid virtual tubes without obstacles. Formal analyses and proofs are presented to demonstrate that all robots can pass through the trapezoid virtual tube safely. Besides, we validate the effectiveness of our method through numerical simulations and real experiments.
AbstractList In our previous work, we design a trapezoid virtual tube to guide robotic swarms through narrow openings. This article extends the application of the trapezoid virtual tube to the situations where there are static obstacles inside and robots have strict speed constraints. We first propose a distributed swarm controller for the trapezoid virtual tube without obstacles and present the relationship between the trapezoid virtual tube and speed constraints. Then, a switching logic for obstacle avoidance is proposed by dividing the trapezoid virtual tube containing static obstacles into several subtrapezoid virtual tubes without obstacles. Formal analyses and proofs are presented to demonstrate that all robots can pass through the trapezoid virtual tube safely. Besides, we validate the effectiveness of our method through numerical simulations and real experiments.
Author Gao, Yan
Bai, Chenggang
Quan, Quan
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Snippet In our previous work, we design a trapezoid virtual tube to guide robotic swarms through narrow openings. This article extends the application of the trapezoid...
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SubjectTerms Collision avoidance
Constraints
Obstacle avoidance
passing-through control
Planning
robotic swarm
Robots
Safety
speed constraint
Switches
Trajectory planning
trapezoid virtual tube
Tubes
Vectors
Title Distributed Control Within a Trapezoid Virtual Tube Containing Obstacles for Robotic Swarms Subject to Speed Constraints
URI https://ieeexplore.ieee.org/document/10683981
https://www.proquest.com/docview/3179912261
Volume 12
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