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Simultaneous Obstacle Avoidance and Target Tracking of Multiple Wheeled Mobile Robots With Certified Safety

Xiaoxiao Li Orcid Logo, Zhihao Xu Orcid Logo, Shuai Li Orcid Logo, Zerong Su, Xuefeng Zhou Orcid Logo

IEEE Transactions on Cybernetics, Volume: 52, Issue: 11, Pages: 11859 - 11873

Swansea University Author: Shuai Li Orcid Logo

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DOI (Published version): 10.1109/tcyb.2021.3070385

Abstract

Collision avoidance plays a major part in the control of the wheeled mobile robot (WMR). Most existing collision-avoidance methods mainly focus on a single WMR and environmental obstacles. There are few products that cast light on the collision-avoidance between multiple WMRs (MWMRs). In this articl...

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Published in: IEEE Transactions on Cybernetics
ISSN: 2168-2267 2168-2275
Published: Institute of Electrical and Electronics Engineers (IEEE) 2022
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URI: https://cronfa.swan.ac.uk/Record/cronfa56945
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spelling 2022-10-18T16:42:48.2013415 v2 56945 2021-05-24 Simultaneous Obstacle Avoidance and Target Tracking of Multiple Wheeled Mobile Robots With Certified Safety 42ff9eed09bcd109fbbe484a0f99a8a8 0000-0001-8316-5289 Shuai Li Shuai Li true false 2021-05-24 MECH Collision avoidance plays a major part in the control of the wheeled mobile robot (WMR). Most existing collision-avoidance methods mainly focus on a single WMR and environmental obstacles. There are few products that cast light on the collision-avoidance between multiple WMRs (MWMRs). In this article, the problem of simultaneous collision-avoidance and target tracking is investigated for MWMRs working in the shared environment from the perspective of optimization. The collision-avoidance strategy is formulated as an inequality constraint, which has proven to be collision free between the MWMRs. The designed MWMRs control scheme integrates path following, collision-avoidance, and WMR velocity compliance, in which the path following task is chosen as the secondary task, and collision-avoidance is the primary task so that safety can be guaranteed in advance. A Lagrangian-based dynamic controller is constructed for the dominating behavior of the MWMRs. Combining theoretical analyses and experiments, the feasibility of the designed control scheme for the MWMRs is substantiated. Experimental results show that if obstacles do not threaten the safety of the WMR, the top priority in the control task is the target track task. All robots move along the desired trajectory. Once the collision criterion is satisfied, the collision-avoidance mechanism is activated and prominent in the controller. Under the proposed scheme, all robots achieve the target tracking on the premise of being collision free. Journal Article IEEE Transactions on Cybernetics 52 11 11859 11873 Institute of Electrical and Electronics Engineers (IEEE) 2168-2267 2168-2275 1 11 2022 2022-11-01 10.1109/tcyb.2021.3070385 COLLEGE NANME Mechanical Engineering COLLEGE CODE MECH Swansea University Guangdong Province Key Areas Research and Development Program (Grant Number: 2019B090919002 and 2020B090925001); National Natural Science Foundation of China (Grant Number: 62003102); Natural Science Foundation of Guangdong Province (Grant Number: 2020A1515010631); Foshan Key Technology Research Project (Grant Number: 1920001001148); Foshan Innovation and Entrepreneurship Team Project (Grant Number: 2018IT100173); GDAS’ Project of Thousand Doctors (Postdoctors) Introduction (Grant Number: 2020GDASYL-20200103128) 2022-10-18T16:42:48.2013415 2021-05-24T10:03:07.5999220 Faculty of Science and Engineering School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering Xiaoxiao Li 0000-0002-3789-2271 1 Zhihao Xu 0000-0003-1344-9731 2 Shuai Li 0000-0001-8316-5289 3 Zerong Su 4 Xuefeng Zhou 0000-0003-1642-2059 5 56945__19969__7e37e437116a4a14a7d7a4bd45cee986.pdf 56945.pdf 2021-05-24T10:09:11.9899358 Output 7112416 application/pdf Accepted Manuscript true true eng http://creativecommons.org/licenses/by-nc-nd/4.0/
title Simultaneous Obstacle Avoidance and Target Tracking of Multiple Wheeled Mobile Robots With Certified Safety
spellingShingle Simultaneous Obstacle Avoidance and Target Tracking of Multiple Wheeled Mobile Robots With Certified Safety
Shuai Li
title_short Simultaneous Obstacle Avoidance and Target Tracking of Multiple Wheeled Mobile Robots With Certified Safety
title_full Simultaneous Obstacle Avoidance and Target Tracking of Multiple Wheeled Mobile Robots With Certified Safety
title_fullStr Simultaneous Obstacle Avoidance and Target Tracking of Multiple Wheeled Mobile Robots With Certified Safety
title_full_unstemmed Simultaneous Obstacle Avoidance and Target Tracking of Multiple Wheeled Mobile Robots With Certified Safety
title_sort Simultaneous Obstacle Avoidance and Target Tracking of Multiple Wheeled Mobile Robots With Certified Safety
author_id_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8
author_id_fullname_str_mv 42ff9eed09bcd109fbbe484a0f99a8a8_***_Shuai Li
author Shuai Li
author2 Xiaoxiao Li
Zhihao Xu
Shuai Li
Zerong Su
Xuefeng Zhou
format Journal article
container_title IEEE Transactions on Cybernetics
container_volume 52
container_issue 11
container_start_page 11859
publishDate 2022
institution Swansea University
issn 2168-2267
2168-2275
doi_str_mv 10.1109/tcyb.2021.3070385
publisher Institute of Electrical and Electronics Engineers (IEEE)
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Aerospace, Civil, Electrical, General and Mechanical Engineering - Mechanical Engineering
document_store_str 1
active_str 0
description Collision avoidance plays a major part in the control of the wheeled mobile robot (WMR). Most existing collision-avoidance methods mainly focus on a single WMR and environmental obstacles. There are few products that cast light on the collision-avoidance between multiple WMRs (MWMRs). In this article, the problem of simultaneous collision-avoidance and target tracking is investigated for MWMRs working in the shared environment from the perspective of optimization. The collision-avoidance strategy is formulated as an inequality constraint, which has proven to be collision free between the MWMRs. The designed MWMRs control scheme integrates path following, collision-avoidance, and WMR velocity compliance, in which the path following task is chosen as the secondary task, and collision-avoidance is the primary task so that safety can be guaranteed in advance. A Lagrangian-based dynamic controller is constructed for the dominating behavior of the MWMRs. Combining theoretical analyses and experiments, the feasibility of the designed control scheme for the MWMRs is substantiated. Experimental results show that if obstacles do not threaten the safety of the WMR, the top priority in the control task is the target track task. All robots move along the desired trajectory. Once the collision criterion is satisfied, the collision-avoidance mechanism is activated and prominent in the controller. Under the proposed scheme, all robots achieve the target tracking on the premise of being collision free.
published_date 2022-11-01T04:12:18Z
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score 11.013082

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