TY - JOUR
T1 - Smooth collision avoidance for the formation control of first order multi-agent systems
AU - González-Sierra, Jaime
AU - Hernandez-Martinez, E. G.
AU - Ramírez-Neria, Mario
AU - Fernandez-Anaya, Guillermo
N1 - Publisher Copyright:
© 2023 Elsevier B.V.
PY - 2023/7
Y1 - 2023/7
N2 - This work addresses collision avoidance in the formation control of a group of mobile robots with first-order dynamics perturbed by lateral and longitudinal slipping parameters. A Generalized Proportional–Integral Observer (GPIO) is designed to estimate these perturbations. Then, an Active Disturbance Rejection Control (ADRC) is proposed to solve the well-known formation control avoiding collisions among the agents. The control strategy only depends on the agents’ position measurements. On the other hand, Continuous Repulsive Vector Fields (C-RVFs) are developed to avoid collisions among the agents. For this purpose, a parameter depending on the inter-robot distance is developed to scale the RVFs properly. By proposing C-RVFs, the chattering is eliminated when using Discontinuous RVFs (D-RVFs). Numerical simulations and real-time experiments illustrate the agents’ performance when they are at risk of collision.
AB - This work addresses collision avoidance in the formation control of a group of mobile robots with first-order dynamics perturbed by lateral and longitudinal slipping parameters. A Generalized Proportional–Integral Observer (GPIO) is designed to estimate these perturbations. Then, an Active Disturbance Rejection Control (ADRC) is proposed to solve the well-known formation control avoiding collisions among the agents. The control strategy only depends on the agents’ position measurements. On the other hand, Continuous Repulsive Vector Fields (C-RVFs) are developed to avoid collisions among the agents. For this purpose, a parameter depending on the inter-robot distance is developed to scale the RVFs properly. By proposing C-RVFs, the chattering is eliminated when using Discontinuous RVFs (D-RVFs). Numerical simulations and real-time experiments illustrate the agents’ performance when they are at risk of collision.
KW - Collision avoidance
KW - First-order agents
KW - Formation control
KW - Multi-agent system
KW - Observer
UR - http://www.scopus.com/inward/record.url?scp=85156213377&partnerID=8YFLogxK
U2 - 10.1016/j.robot.2023.104433
DO - 10.1016/j.robot.2023.104433
M3 - Artículo
AN - SCOPUS:85156213377
SN - 0921-8890
VL - 165
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
M1 - 104433
ER -