Cooperative Event Triggered Control for Multi-Robot Systems with Collision Avoidance

This paper investigates the safety critical control for multi-robot systems with event triggered mechanism and presents an algorithm to ensure the collision avoidance which satisfies safety constraints in the motion of robots. This is achieved by minimizing the difference between the actual and the...

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Bibliographic Details
Published inChinese Control Conference pp. 5460 - 5465
Main Authors Li, Xiaoduo, Yin, Xiang, Li, Shaoyuan
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 26.07.2021
Subjects
Collision avoidance
Control systems
Event Triggered Control
Multi-robot systems
Numerical simulation
Quadratic programming
Robots
Safety
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Summary:This paper investigates the safety critical control for multi-robot systems with event triggered mechanism and presents an algorithm to ensure the collision avoidance which satisfies safety constraints in the motion of robots. This is achieved by minimizing the difference between the actual and the nominal controllers subject to safety constraints. The barrier function-based constraints are then combined to formulate a quadratic programming problem which modifies the nominal controller when necessary to achieve both collision avoidance. Finally, a numerical simulation is provided to verify the effectiveness of the theoretical algorithm.
ISSN:1934-1768
DOI:10.23919/CCC52363.2021.9549497