Concetti Chiave
The core message of this article is to develop a hybrid model for the motion control of two mobile robots under allowable collisions, and to propose a control redesign strategy based on impulsive control techniques to guarantee the task accomplishment for each mobile robot.
Sintesi
The article investigates the motion control problem of two mobile robots under allowable collisions. Allowable collisions refer to collisions that do not damage the mobile robots. The authors first analyze the conditions for the occurrence of collisions and their effects on the motion of the mobile robots. Based on this analysis, they formulate a hybrid model to capture the dynamics of the mobile robots and the effects of the collisions.
The authors then show the necessity of redesigning the motion control strategy for the mobile robots due to the effects of the collisions. They propose a control redesign strategy that uses impulsive control techniques. The key steps of the strategy are:
Impose an impulse on the mobile robot after a collision to change its motion direction and avoid re-collision.
Activate a local controller to drive the mobile robot away from the collision position.
Reactivate the predefined controller once the mobile robot satisfies certain conditions to ensure task accomplishment.
The authors demonstrate that the proposed control redesign strategy can guarantee the task accomplishment for each mobile robot while avoiding successive collisions and excluding the chattering and deadlock phenomena.