Control of a group of uncertain wheeled robots with global inputs in the presence of obstacles. (March 2023)

• Record Type: Journal Article
• Authors: Mehrabani, MohammadBagher Maghsoudi; Khalaji, Ali Keymasi; Ghane, Mahdi
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 237:Number 1(2023)
• Page Start: 177
• Page End: 190
• Publication Date: 2023-03
• Subjects: global inputs -- global dynamic control -- ensemble control -- multi-robot system -- non-holonomic system -- stabilization; Machinery, Dynamics of -- Periodicals; Machine design -- Periodicals; 621.815
• DOI: 10.1177/14644193221140442
• Languages: English
• ISSNs: 1464-4193

Abstract

Ensemble control of robots has attracted much attention in engineering, and this is due to the need to control the arrangement and group movement of multi-robot systems in land, air, and sea applications. Multi-robot systems are growing in the industry today, such as security work, factory transportation, and construction. Multi-robot systems are used to collaborate with robots and perform joint missions. Also, in practice, many of the control methods proposed for dynamic systems may not be feasible because the intended model may be inaccurate or the system may be subject to model uncertainties. In this paper, a group of wheeled robots is controlled with a novel global input algorithm in the presence of uncertainties and environmental obstacles. In the following, the ensemble control of robots in the presence of obstacles is discussed using virtual potential functions. These potentials are defined in such a way that in equilibrium, the goal can be achieved. In this article, an algorithm for leading a group of robots among the obstacles is presented.