The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance

Autores
Brandão, Alexandre Santos; Rampinelli, Vinícius Thiago Lecco; Martins, Felipe Nascimento; Sarcinelli filho, Mário; Carelli Albarracin, Ricardo Oscar
Año de publicación
2015
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
A multilayer scheme is here proposed to implement coordinated control of a group of mobile robots. Specifically, a trajectory tracking controller is proposed to coordinately guide a platoon of robots, with an obstacle deviation subsystem based on virtual forces and mechanical impedance implemented in each robot. Such a controller is firstly designed for groups of three robots and then generalized to larger groups (n > 3 robots), by proposing a modular structure based on the concatenation of triangular modules, composing a polygon of n sides (one of the designed controllers is adopted to guide each module). The stability of the closed-loop control system is also proven for each individual control system, based on the theory of Lyapunov, taking into account the saturation of the control signals, adopted to prevent the saturation of the robot actuators. Based on such a proof, a conjecture that the whole control system is stable is presented, which is supported by several simulated and experimental results, some of which are presented, thus validating the proposed control structure.
Fil: Brandão, Alexandre Santos . Universidade Federal de Viçosa; Brasil
Fil: Rampinelli, Vinícius Thiago Lecco . Universidade Federal Do Espirito Santo. Centro Tecnologico; Brasil
Fil: Martins, Felipe Nascimento . Universidade Federal Do Espirito Santo. Centro Tecnologico; Brasil
Fil: Sarcinelli filho, Mário . Universidade Federal Do Espirito Santo. Centro Tecnologico; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Materia
Formation Control
Mobile Robots
Lyapunov Stability
Theory of Lyapunov
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/8940
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/8940
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidanceBrandão, Alexandre Santos Rampinelli, Vinícius Thiago Lecco Martins, Felipe Nascimento Sarcinelli filho, Mário Carelli Albarracin, Ricardo OscarFormation ControlMobile RobotsLyapunov StabilityTheory of Lyapunovhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2A multilayer scheme is here proposed to implement coordinated control of a group of mobile robots. Specifically, a trajectory tracking controller is proposed to coordinately guide a platoon of robots, with an obstacle deviation subsystem based on virtual forces and mechanical impedance implemented in each robot. Such a controller is firstly designed for groups of three robots and then generalized to larger groups (n > 3 robots), by proposing a modular structure based on the concatenation of triangular modules, composing a polygon of n sides (one of the designed controllers is adopted to guide each module). The stability of the closed-loop control system is also proven for each individual control system, based on the theory of Lyapunov, taking into account the saturation of the control signals, adopted to prevent the saturation of the robot actuators. Based on such a proof, a conjecture that the whole control system is stable is presented, which is supported by several simulated and experimental results, some of which are presented, thus validating the proposed control structure.Fil: Brandão, Alexandre Santos . Universidade Federal de Viçosa; BrasilFil: Rampinelli, Vinícius Thiago Lecco . Universidade Federal Do Espirito Santo. Centro Tecnologico; BrasilFil: Martins, Felipe Nascimento . Universidade Federal Do Espirito Santo. Centro Tecnologico; BrasilFil: Sarcinelli filho, Mário . Universidade Federal Do Espirito Santo. Centro Tecnologico; BrasilFil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaSpringer2015-06info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/8940Brandão, Alexandre Santos ; Rampinelli, Vinícius Thiago Lecco ; Martins, Felipe Nascimento ; Sarcinelli filho, Mário ; Carelli Albarracin, Ricardo Oscar; The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance; Springer; Journal of Control, Automation and Electrical Systems; 26; 6-2015; 201-2142195-38802195-3899enginfo:eu-repo/semantics/altIdentifier/url/http://link.springer.com/article/10.1007/s40313-015-0170-xinfo:eu-repo/semantics/altIdentifier/doi/10.1007/s40313-015-0170-xinfo:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:20:57Zoai:ri.conicet.gov.ar:11336/8940instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:20:57.698CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance
title The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance
spellingShingle The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance
Brandão, Alexandre Santos
Formation Control
Mobile Robots
Lyapunov Stability
Theory of Lyapunov
title_short The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance
title_full The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance
title_fullStr The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance
title_full_unstemmed The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance
title_sort The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance
dc.creator.none.fl_str_mv Brandão, Alexandre Santos
Rampinelli, Vinícius Thiago Lecco
Martins, Felipe Nascimento
Sarcinelli filho, Mário
Carelli Albarracin, Ricardo Oscar
author Brandão, Alexandre Santos
author_facet Brandão, Alexandre Santos
Rampinelli, Vinícius Thiago Lecco
Martins, Felipe Nascimento
Sarcinelli filho, Mário
Carelli Albarracin, Ricardo Oscar
author_role author
author2 Rampinelli, Vinícius Thiago Lecco
Martins, Felipe Nascimento
Sarcinelli filho, Mário
Carelli Albarracin, Ricardo Oscar
author2_role author
author
author
author
dc.subject.none.fl_str_mv Formation Control
Mobile Robots
Lyapunov Stability
Theory of Lyapunov
topic Formation Control
Mobile Robots
Lyapunov Stability
Theory of Lyapunov
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv A multilayer scheme is here proposed to implement coordinated control of a group of mobile robots. Specifically, a trajectory tracking controller is proposed to coordinately guide a platoon of robots, with an obstacle deviation subsystem based on virtual forces and mechanical impedance implemented in each robot. Such a controller is firstly designed for groups of three robots and then generalized to larger groups (n > 3 robots), by proposing a modular structure based on the concatenation of triangular modules, composing a polygon of n sides (one of the designed controllers is adopted to guide each module). The stability of the closed-loop control system is also proven for each individual control system, based on the theory of Lyapunov, taking into account the saturation of the control signals, adopted to prevent the saturation of the robot actuators. Based on such a proof, a conjecture that the whole control system is stable is presented, which is supported by several simulated and experimental results, some of which are presented, thus validating the proposed control structure.
Fil: Brandão, Alexandre Santos . Universidade Federal de Viçosa; Brasil
Fil: Rampinelli, Vinícius Thiago Lecco . Universidade Federal Do Espirito Santo. Centro Tecnologico; Brasil
Fil: Martins, Felipe Nascimento . Universidade Federal Do Espirito Santo. Centro Tecnologico; Brasil
Fil: Sarcinelli filho, Mário . Universidade Federal Do Espirito Santo. Centro Tecnologico; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
description A multilayer scheme is here proposed to implement coordinated control of a group of mobile robots. Specifically, a trajectory tracking controller is proposed to coordinately guide a platoon of robots, with an obstacle deviation subsystem based on virtual forces and mechanical impedance implemented in each robot. Such a controller is firstly designed for groups of three robots and then generalized to larger groups (n > 3 robots), by proposing a modular structure based on the concatenation of triangular modules, composing a polygon of n sides (one of the designed controllers is adopted to guide each module). The stability of the closed-loop control system is also proven for each individual control system, based on the theory of Lyapunov, taking into account the saturation of the control signals, adopted to prevent the saturation of the robot actuators. Based on such a proof, a conjecture that the whole control system is stable is presented, which is supported by several simulated and experimental results, some of which are presented, thus validating the proposed control structure.
publishDate 2015
dc.date.none.fl_str_mv 2015-06
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/8940
Brandão, Alexandre Santos ; Rampinelli, Vinícius Thiago Lecco ; Martins, Felipe Nascimento ; Sarcinelli filho, Mário ; Carelli Albarracin, Ricardo Oscar; The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance; Springer; Journal of Control, Automation and Electrical Systems; 26; 6-2015; 201-214
2195-3880
2195-3899
url http://hdl.handle.net/11336/8940
identifier_str_mv Brandão, Alexandre Santos ; Rampinelli, Vinícius Thiago Lecco ; Martins, Felipe Nascimento ; Sarcinelli filho, Mário ; Carelli Albarracin, Ricardo Oscar; The Multilayer Control Scheme: a strategy to guide n-robots formations with obstacle avoidance; Springer; Journal of Control, Automation and Electrical Systems; 26; 6-2015; 201-214
2195-3880
2195-3899
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://link.springer.com/article/10.1007/s40313-015-0170-x
info:eu-repo/semantics/altIdentifier/doi/10.1007/s40313-015-0170-x
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
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score 13.070432

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