Leader-follower formation control of nonholonomic mobile robots subject to robots failure
Over the years, control of autonomous vehicles in a defined formation has been the subject of much research. Albeit leader-follower approach being one of the most used in formation control, it suffers a major practical drawback of leader failure while cruising in formation. In this work, we aim to s...
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| Published in | International journal of advanced robotic systems Vol. 21; no. 5 |
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| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
London, England
SAGE Publications
01.11.2024
SAGE Publishing |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1729-8806 1729-8814 |
| DOI | 10.1177/17298806241278273 |
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| Abstract | Over the years, control of autonomous vehicles in a defined formation has been the subject of much research. Albeit leader-follower approach being one of the most used in formation control, it suffers a major practical drawback of leader failure while cruising in formation. In this work, we aim to solve this problem by proposing a novel assignment algorithm that assigns a new leader from the follower robots to ensure robots complete their given task when their leader fails. This algorithm also assign role to new robots joining the group, as well as the failed robot when rescued back to the team. We drive robots towards their desired trajectories to achieve formation using a Lyapunov-based time-varying state tracking controller from the literature. Due to role switching amongst member robots, we propose a new variant of the limit-cycle obstacle avoidance algorithm to ensure smooth and collision free transition. Simulations and experiments are performed using the robot operating system framework due to its flexibility to verify the effectiveness and reliability of the proposed algorithms. |
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| AbstractList | Over the years, control of autonomous vehicles in a defined formation has been the subject of much research. Albeit leader-follower approach being one of the most used in formation control, it suffers a major practical drawback of leader failure while cruising in formation. In this work, we aim to solve this problem by proposing a novel assignment algorithm that assigns a new leader from the follower robots to ensure robots complete their given task when their leader fails. This algorithm also assign role to new robots joining the group, as well as the failed robot when rescued back to the team. We drive robots towards their desired trajectories to achieve formation using a Lyapunov-based time-varying state tracking controller from the literature. Due to role switching amongst member robots, we propose a new variant of the limit-cycle obstacle avoidance algorithm to ensure smooth and collision free transition. Simulations and experiments are performed using the robot operating system framework due to its flexibility to verify the effectiveness and reliability of the proposed algorithms. |
| Author | Abdul-razaq, Yusuf Marquez, Horacio J |
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| Cites_doi | 10.1177/0278364907084441 10.1109/IROS.2006.281851 10.1016/S0921-8890(02)00311-1 10.1109/ACC.2015.7170825 10.1007/978-3-319-32552-1_47 10.3182/20120905-3-HR-2030.00170 10.1109/ASCC.2015.7244694 10.1016/j.automatica.2014.10.022 10.1016/S0005-1098(97)00055-1 10.1080/20464177.2016.1173268 10.1177/0278364909104290 10.1115/1.2764510 10.1109/87.960341 10.1007/BF00933298 10.1109/ROBOT.1990.126006 10.1109/MECATRONICS.2018.8495839 10.1109/ISDEA.2012.316 10.23919/ACC.2004.1384365 10.1016/j.robot.2005.11.004 10.1109/CoDIT.2019.8820460 |
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| Keywords | multi-robot coordination Mobile robots formation control trajectory tracking |
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| Title | Leader-follower formation control of nonholonomic mobile robots subject to robots failure |
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