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Simultaneous Obstacle Avoidance and Target Tracking of Multiple Wheeled Mobile Robots With Certified Safety

Xiaoxiao Li Orcid Logo, Zhihao Xu Orcid Logo, Shuai Li Orcid Logo, Zerong Su, Xuefeng Zhou Orcid Logo

IEEE Transactions on Cybernetics, Volume: 52, Issue: 11, Pages: 11859 - 11873

Swansea University Author: Shuai Li Orcid Logo

Abstract

Collision avoidance plays a major part in the control of the wheeled mobile robot (WMR). Most existing collision-avoidance methods mainly focus on a single WMR and environmental obstacles. There are few products that cast light on the collision-avoidance between multiple WMRs (MWMRs). In this articl...

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Published in: IEEE Transactions on Cybernetics
ISSN: 2168-2267 2168-2275
Published: Institute of Electrical and Electronics Engineers (IEEE) 2022
Online Access: Check full text

URI: https://cronfa.swan.ac.uk/Record/cronfa56945
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Abstract: Collision avoidance plays a major part in the control of the wheeled mobile robot (WMR). Most existing collision-avoidance methods mainly focus on a single WMR and environmental obstacles. There are few products that cast light on the collision-avoidance between multiple WMRs (MWMRs). In this article, the problem of simultaneous collision-avoidance and target tracking is investigated for MWMRs working in the shared environment from the perspective of optimization. The collision-avoidance strategy is formulated as an inequality constraint, which has proven to be collision free between the MWMRs. The designed MWMRs control scheme integrates path following, collision-avoidance, and WMR velocity compliance, in which the path following task is chosen as the secondary task, and collision-avoidance is the primary task so that safety can be guaranteed in advance. A Lagrangian-based dynamic controller is constructed for the dominating behavior of the MWMRs. Combining theoretical analyses and experiments, the feasibility of the designed control scheme for the MWMRs is substantiated. Experimental results show that if obstacles do not threaten the safety of the WMR, the top priority in the control task is the target track task. All robots move along the desired trajectory. Once the collision criterion is satisfied, the collision-avoidance mechanism is activated and prominent in the controller. Under the proposed scheme, all robots achieve the target tracking on the premise of being collision free.
College: College of Engineering
Funders: Guangdong Province Key Areas Research and Development Program (Grant Number: 2019B090919002 and 2020B090925001); National Natural Science Foundation of China (Grant Number: 62003102); Natural Science Foundation of Guangdong Province (Grant Number: 2020A1515010631); Foshan Key Technology Research Project (Grant Number: 1920001001148); Foshan Innovation and Entrepreneurship Team Project (Grant Number: 2018IT100173); GDAS’ Project of Thousand Doctors (Postdoctors) Introduction (Grant Number: 2020GDASYL-20200103128)
Issue: 11
Start Page: 11859
End Page: 11873