Collision avoidance for multiple Lagrangian dynamical systems with gyroscopic forces. (11th January 2017)

• Record Type: Journal Article
• Authors: Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare
• Is Part Of: International journal of advanced robotic systems. Volume 14:Number 1(2017:Jan./Feb.)
• Publication Date: 2017-01-11
• Subjects: Collision avoidance -- gyroscopic forces -- multi-robot systems; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881416687109
• Languages: English
• ISSNs: 1729-8806

Abstract

This article introduces a novel methodology for dealing with collision avoidance for groups of mobile robots. In particular, full dynamics are considered, since each robot is modeled as a Lagrangian dynamical system moving in a three-dimensional environment. Gyroscopic forces are utilized for defining the collision avoidance control strategy: This kind of forces leads to avoiding collisions, without interfering with the convergence properties of the multi-robot system's desired control law. Collision avoidance introduces, in fact, a perturbation on the nominal behavior of the system: We define a method for choosing the direction of the gyroscopic force in an optimal manner, in such a way that perturbation is minimized. Collision avoidance and convergence properties are analytically demonstrated, and simulation results are provided for validation purpose.