Araştırma Makalesi
BibTex RIS Kaynak Göster

Input Constraints in Formation Control of Mobile Robots

Yıl 2021, Cilt: 13 Sayı: 2, 680 - 689, 18.06.2021

Meral Kılıçarslan Ouach Tolga Eren

https://doi.org/10.29137/umagd.908696

Öz

The paper investigates the better possible combined initial conditions of leader-follower formations of nonholonomic mobile robots for Input/Output Linearization Technique. Initial conditions are applied to two followers and one leader robot. The first follower tries to maintain desired distance and angle towards the leader while the second follower tries to maintain desired distances to the first follower and the leader. In simulations, it is observed that, changing initial relative positions and velocities as well as angles can cause robots act differently throughout the whole leader- follower trajectory. At the end, optimum initial conditions are proposed for the best trajectory.

Anahtar Kelimeler

Robot formation swarm robotics formation control

Kaynakça

  • Desai, J. P., Ostrowski, J., & Kumar, V. (1998). Controlling formations of multiple mobile robots. Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 4, 2864–2869 c.4. https://doi.org/10.1109/ROBOT.1998.680621
  • Desai, J. P., Ostrowski, J. P., & Kumar, V. (2001). Modeling and control of formations of nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 17(6), 905–908. https://doi.org/10.1109/70.976023
  • Edwards, D. B., Bean, T. A., Odell, D. L., & Anderson, M. J. (2004). A leader-follower algorithm for multiple AUV formations. 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578), 40–46. https://doi.org/10.1109/AUV.2004.1431191
  • Eren, T, Whiteley, W., Anderson, B. D. O., Morse, A. S., & Belhumeur, P. N. (2005). Information structures to secure control of rigid formations with leader-follower architecture. Proceedings of the 2005, American Control Conference, 2005., 2966–2971 c. 4. https://doi.org/10.1109/ACC.2005.1470425
  • Eren, Tolga. (2012). Formation shape control based on bearing rigidity. International Journal of Control, 85(9), 1361–1379. https://doi.org/10.1080/00207179.2012.685183
  • Fierro, R., Belta, C., Desai, J. P., & Kumar, V. (2001). On controlling aircraft formations. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), 2, 1065–1070 c.2. https://doi.org/10.1109/CDC.2001.981026
  • Flores-Resendiz, J. F., & Aranda-Bricaire, E. (2020). A General Solution to the Formation Control Problem Without Collisions for First-Order Multi-Agent Systems. Robotica, 38(6), 1123–1137. https://doi.org/10.1017/S0263574719001280
  • Giulietti, F., Pollini, L., & Innocenti, M. (2000). Autonomous formation flight. IEEE Control Systems Magazine, 20(6), 34–44. https://doi.org/10.1109/37.887447
  • Gosiewski, Z., & Ambroziak, L. (2012). Formation Flight Control Scheme for Unmanned Aerial Vehicles. Içinde K. Kozłowski (Ed.), Robot Motion and Control 2011 (ss. 331–340). Springer London.
  • Hirzinger, G., Brunner, B., Dietrich, J., & Heindl, J. (1994). ROTEX-the first remotely controlled robot in space. Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2604–2611 c.3. https://doi.org/10.1109/ROBOT.1994.351121
  • Hua, Y., Dong, X., Hu, G., Li, Q., & Ren, Z. (2019). Distributed Time-Varying Output Formation Tracking for Heterogeneous Linear Multiagent Systems With a Nonautonomous Leader of Unknown Input. IEEE Transactions on Automatic Control, 64(10), 4292–4299. https://doi.org/10.1109/TAC.2019.2893978
  • Li, Z., Tang, Y., Huang, T., & Kurths, J. (2019). Formation Control with Mismatched Orientation in Multi-Agent Systems. IEEE Transactions on Network Science and Engineering, 6(3), 314–325. https://doi.org/10.1109/TNSE.2018.2851199
  • Ma, H.-J., Yang, G.-H., & Chen, T. (2021). Event-Triggered Optimal Dynamic Formation of Heterogeneous Affine Nonlinear Multiagent Systems. IEEE Transactions on Automatic Control, 66(2), 497–512. https://doi.org/10.1109/TAC.2020.2983108
  • Meng, Y., Chen, Q., Chu, X., & Rahmani, A. (2019). Maneuver Guidance and Formation Maintenance for Control of Leaderless Space-Robot Teams. IEEE Transactions on Aerospace and Electronic Systems, 55(1), 289–302. https://doi.org/10.1109/TAES.2018.2850382
  • Skjetne, R., Moi, S., & Fossen, T. I. (2002). Nonlinear formation control of marine craft. Proceedings of the 41st IEEE Conference on Decision and Control, 2002., 2, 1699–1704 c.2. https://doi.org/10.1109/CDC.2002.1184765
  • Wang, D., & Fu, M. (2019). Adaptive Formation Control for Waterjet USV With Input and Output Constraints Based on Bioinspired Neurodynamics. IEEE Access, 7, 165852–165861. https://doi.org/10.1109/ACCESS.2019.2953563
  • Wang, X., Ni, W., & Wang, X. (2012). Leader-Following Formation of Switching Multirobot Systems via Internal Model. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 42(3), 817–826. https://doi.org/10.1109/TSMCB.2011.2178022
  • Wen, G., Chen, C. L. P., & Liu, Y. (2018). Formation Control With Obstacle Avoidance for a Class of Stochastic Multiagent Systems. IEEE Transactions on Industrial Electronics, 65(7), 5847–5855. https://doi.org/10.1109/TIE.2017.2782229
  • Yang, X., & Fan, X. (2019). Robust Formation Control for Uncertain Multiagent Systems With an Unknown Control Direction and Disturbances. IEEE Access, 7, 106439–106452. https://doi.org/10.1109/ACCESS.2019.2932234

Mobil Robotların Formasyon Kontrolünde Giriş Kısıtlamaları

Yıl 2021, Cilt: 13 Sayı: 2, 680 - 689, 18.06.2021

Meral Kılıçarslan Ouach Tolga Eren

https://doi.org/10.29137/umagd.908696

Öz

Bu çalışmada, Giriş/Çıkış Doğrusallaştırma Tekniği ile, holonomik olmayan mobil robotlara Lider-Takipçi Formasyon Kontrolü uygulandığında, daha iyi sonuçlar veren başlangıç koşulları araştırılmıştır. Başlangıç koşulları bir lider ve iki takipçi robotta denenmiştir. Kontrol kuralı, ilk takipçinin lidere göre istenilen mesafe ve açıyı; ikinci takipçinin lidere göre ve ilk takipçiye göre istenilen mesafeyi koruması şeklindedir. Simülasyonlarda başlangıç koordinatları, hızları ve açılarının değiştirilmesinin robotların tüm lider-takipçi yolculuğunda farklı davranmasına sebep olduğu gözlemlenmiştir. Makalenin sonunda, en iyi takip için optimal başlangıç koşulları önerilmiştir.

Anahtar Kelimeler

Robot formasyonu sürü robotları formasyon kontrolü

Kaynakça

  • Desai, J. P., Ostrowski, J., & Kumar, V. (1998). Controlling formations of multiple mobile robots. Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 4, 2864–2869 c.4. https://doi.org/10.1109/ROBOT.1998.680621
  • Desai, J. P., Ostrowski, J. P., & Kumar, V. (2001). Modeling and control of formations of nonholonomic mobile robots. IEEE Transactions on Robotics and Automation, 17(6), 905–908. https://doi.org/10.1109/70.976023
  • Edwards, D. B., Bean, T. A., Odell, D. L., & Anderson, M. J. (2004). A leader-follower algorithm for multiple AUV formations. 2004 IEEE/OES Autonomous Underwater Vehicles (IEEE Cat. No.04CH37578), 40–46. https://doi.org/10.1109/AUV.2004.1431191
  • Eren, T, Whiteley, W., Anderson, B. D. O., Morse, A. S., & Belhumeur, P. N. (2005). Information structures to secure control of rigid formations with leader-follower architecture. Proceedings of the 2005, American Control Conference, 2005., 2966–2971 c. 4. https://doi.org/10.1109/ACC.2005.1470425
  • Eren, Tolga. (2012). Formation shape control based on bearing rigidity. International Journal of Control, 85(9), 1361–1379. https://doi.org/10.1080/00207179.2012.685183
  • Fierro, R., Belta, C., Desai, J. P., & Kumar, V. (2001). On controlling aircraft formations. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), 2, 1065–1070 c.2. https://doi.org/10.1109/CDC.2001.981026
  • Flores-Resendiz, J. F., & Aranda-Bricaire, E. (2020). A General Solution to the Formation Control Problem Without Collisions for First-Order Multi-Agent Systems. Robotica, 38(6), 1123–1137. https://doi.org/10.1017/S0263574719001280
  • Giulietti, F., Pollini, L., & Innocenti, M. (2000). Autonomous formation flight. IEEE Control Systems Magazine, 20(6), 34–44. https://doi.org/10.1109/37.887447
  • Gosiewski, Z., & Ambroziak, L. (2012). Formation Flight Control Scheme for Unmanned Aerial Vehicles. Içinde K. Kozłowski (Ed.), Robot Motion and Control 2011 (ss. 331–340). Springer London.
  • Hirzinger, G., Brunner, B., Dietrich, J., & Heindl, J. (1994). ROTEX-the first remotely controlled robot in space. Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2604–2611 c.3. https://doi.org/10.1109/ROBOT.1994.351121
  • Hua, Y., Dong, X., Hu, G., Li, Q., & Ren, Z. (2019). Distributed Time-Varying Output Formation Tracking for Heterogeneous Linear Multiagent Systems With a Nonautonomous Leader of Unknown Input. IEEE Transactions on Automatic Control, 64(10), 4292–4299. https://doi.org/10.1109/TAC.2019.2893978
  • Li, Z., Tang, Y., Huang, T., & Kurths, J. (2019). Formation Control with Mismatched Orientation in Multi-Agent Systems. IEEE Transactions on Network Science and Engineering, 6(3), 314–325. https://doi.org/10.1109/TNSE.2018.2851199
  • Ma, H.-J., Yang, G.-H., & Chen, T. (2021). Event-Triggered Optimal Dynamic Formation of Heterogeneous Affine Nonlinear Multiagent Systems. IEEE Transactions on Automatic Control, 66(2), 497–512. https://doi.org/10.1109/TAC.2020.2983108
  • Meng, Y., Chen, Q., Chu, X., & Rahmani, A. (2019). Maneuver Guidance and Formation Maintenance for Control of Leaderless Space-Robot Teams. IEEE Transactions on Aerospace and Electronic Systems, 55(1), 289–302. https://doi.org/10.1109/TAES.2018.2850382
  • Skjetne, R., Moi, S., & Fossen, T. I. (2002). Nonlinear formation control of marine craft. Proceedings of the 41st IEEE Conference on Decision and Control, 2002., 2, 1699–1704 c.2. https://doi.org/10.1109/CDC.2002.1184765
  • Wang, D., & Fu, M. (2019). Adaptive Formation Control for Waterjet USV With Input and Output Constraints Based on Bioinspired Neurodynamics. IEEE Access, 7, 165852–165861. https://doi.org/10.1109/ACCESS.2019.2953563
  • Wang, X., Ni, W., & Wang, X. (2012). Leader-Following Formation of Switching Multirobot Systems via Internal Model. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 42(3), 817–826. https://doi.org/10.1109/TSMCB.2011.2178022
  • Wen, G., Chen, C. L. P., & Liu, Y. (2018). Formation Control With Obstacle Avoidance for a Class of Stochastic Multiagent Systems. IEEE Transactions on Industrial Electronics, 65(7), 5847–5855. https://doi.org/10.1109/TIE.2017.2782229
  • Yang, X., & Fan, X. (2019). Robust Formation Control for Uncertain Multiagent Systems With an Unknown Control Direction and Disturbances. IEEE Access, 7, 106439–106452. https://doi.org/10.1109/ACCESS.2019.2932234
Toplam 19 adet kaynakça vardır.

Ayrıntılar

Birincil Dil Türkçe
Konular Mühendislik, Elektrik Mühendisliği
Bölüm Makaleler
Yazarlar

Meral Kılıçarslan Ouach 0000-0002-1086-5273

Tolga Eren 0000-0001-5577-6752

Yayımlanma Tarihi 18 Haziran 2021
Gönderilme Tarihi 3 Nisan 2021
Yayımlandığı Sayı Yıl 2021 Cilt: 13 Sayı: 2

Kaynak Göster

APA Kılıçarslan Ouach, M., & Eren, T. (2021). Mobil Robotların Formasyon Kontrolünde Giriş Kısıtlamaları. International Journal of Engineering Research and Development, 13(2), 680-689. https://doi.org/10.29137/umagd.908696
 Kapak Resmi İndir
Tüm hakları saklıdır. Kırıkkale Üniversitesi, Mühendislik Fakültesi.