Motion Control of Two Mobile Robots with Allowable Collisions

核心概念

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.

要約

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.

統計

None.

引用

None.

抽出されたキーインサイト

Motion Control of Two Mobile Robots under Allowable Collisions

by Li Tan,Wei R... 場所 arxiv.org 04-29-2024

https://arxiv.org/pdf/2311.08880.pdf

深掘り質問

How can the proposed control redesign strategy be extended to handle more than two mobile robots in the same workspace

To extend the proposed control redesign strategy to handle more than two mobile robots in the same workspace, we can follow a similar approach as outlined for the two mobile robots. Each mobile robot would have its predefined controller and collision model, similar to the case of two robots.
When a collision occurs between a mobile robot and another robot or obstacle, the impulse can be imposed to change the motion direction of the colliding robot. The local controller can then guide the robot away from the collision position.
For multiple robots, the key would be to prioritize the collisions based on proximity and potential impact on task accomplishment. The control redesign strategy can be applied sequentially to resolve collisions for each robot, ensuring that they move towards their target positions while avoiding collisions with other robots or obstacles.

What are the potential limitations or drawbacks of the impulsive control approach used in the control redesign strategy

One potential limitation of the impulsive control approach used in the control redesign strategy is the abrupt change in the motion direction of the robot after a collision. While this can effectively avoid re-collisions and ensure task accomplishment, it may lead to discontinuities in the robot's trajectory and control inputs.
Additionally, the impulsive control approach may require precise timing and magnitude of the impulse to ensure the desired motion direction change. If the impulse is not accurately applied, it could lead to unintended deviations in the robot's path or affect the overall system stability.
Furthermore, the impulsive nature of the control strategy may introduce high peak forces or accelerations, which could potentially impact the mechanical components of the mobile robots. Careful consideration and tuning of the impulse parameters are essential to mitigate these drawbacks.

Can the hybrid modeling and control redesign framework be applied to other types of mobile robots or robotic systems beyond the ones considered in this article

The hybrid modeling and control redesign framework presented in the article can be applied to a wide range of mobile robots or robotic systems beyond the specific scenarios discussed. The key lies in adapting the collision modeling and control redesign strategy to suit the dynamics and constraints of the particular robotic system.
For different types of mobile robots, such as aerial drones, unmanned ground vehicles, or robotic manipulators, the hybrid modeling approach can be tailored to incorporate their specific dynamics and collision characteristics. The control redesign strategy can then be customized to address collisions and ensure task accomplishment based on the unique requirements of each robotic system.
By adjusting the parameters and control algorithms to match the characteristics of the specific robotic platform, the hybrid modeling and control redesign framework can be effectively utilized in various robotic applications across different industries and domains.