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Adaptive coordinated path following control of non-holonomic mobile robots with quantised communication

Adaptive coordinated path following control of non-holonomic mobile robots with quantised communication

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  • Author(s): J. Ghommam 1 ; H. Mehrjerdi 2 ; M. Saad 2 ; F. Mnif 1, 3
    • View affiliations
    • Affiliations: 1: Research Unit on Mechatronics and Autonomous Systems, ENIS, Tunisia Ecole Nationale d'Ingenieurs de Sfax, Tunisia
      2: Department of Electrical Engineering, École de Technologie Supérieure, Montreal, Canada
      3: Department of Electrical and Computer Engineering, Sultan Qaboos University, Muscat, Oman
  • Source: Volume 5, Issue 17, 17 November 2011, p. 1990 – 2004
    DOI:  10.1049/iet-cta.2010.0478 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Published

In this study, Lyapunov-based technique and graph theory are combined to address the problem of coordinated path following where multiple mobile robots are required to follow some prescribed paths while maintaining a desired inter-robot formation pattern. The authors address this problem by developing decentralised feedback law that drives each robot to its desired path while adjusting its speed to the nominal velocity profile based on the exchange of information with its neighbours. The decentralised feedback law builds upon a non-linear control strategy with integral actions, that decouples the path following from the coordination control problem, the obtained subsystems are shown to be in a cascade connection of each other and therefore the stability of the entire closed-loop system is guaranteed by the small-gain theorem. The authors explicitly address the situation where the exchange of information among mobile robots takes place according to a quantised communication network and provide conditions under which the complete coordinated path-following closed-loop system is stable. Finally, the theoretical results are validated by simulations on a platform of three mobile robots.

Inspec keywords: cooperative systems; adaptive control; closed loop systems; multi-robot systems; mobile robots; decentralised control; path planning; position control; cascade control; Lyapunov methods; graph theory

Other keywords: coordination control problem; interrobot formation pattern; nonholonomic mobile robot; adaptive coordinated path following control; decentralised feedback law; information exchange; path-following closed loop system; Lyapunov-based technique; small-gain theorem; quantised communication network; nonlinear control strategy; cascade connection; graph theory; quantised communication

Subjects: Multivariable control systems; Combinatorial mathematics; Self-adjusting control systems; Stability in control theory; Spatial variables control; Mobile robots

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