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A new stabilizing solution for motion planning and control of multiple robots

Published online by Cambridge University Press:  19 August 2014

Avinesh Prasad ,
Bibhya Sharma  and
Jito Vanualailai
Avinesh Prasad
Affiliation:
School of Computing, Information & Mathematical Sciences, University of the South Pacific, Suva, FIJI
Bibhya Sharma*
Affiliation:
School of Computing, Information & Mathematical Sciences, University of the South Pacific, Suva, FIJI
Jito Vanualailai
Affiliation:
School of Computing, Information & Mathematical Sciences, University of the South Pacific, Suva, FIJI
*
*Corresponding author. E-mail: sharma_b@usp.ac.fj
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Summary

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This paper formulates a new scalable algorithm for motion planning and control of multiple point-mass robots. These autonomous robots are designated to move safely to their goals in a priori known workspace cluttered with fixed and moving obstacles of arbitrary positions and sizes. The control laws proposed for obstacle and collision avoidance and target convergence ensure that the equilibrium point of the given system is asymptotically stable. Computer simulations with the proposed technique and applications to a team of two planar (RP) manipulators working together in a common workspace are presented. Also, the robustness of the system in the presence of noise is verified through simulations.

Keywords

Point-mass robotsMotion planningPlanar robot armsAsymptotic stability

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 5: RAAD , May 2016 , pp. 1071 - 1089
Creative Commons
Creative Common License - CCCreative Common License - BY
This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/3.0/), which permits unrestricted re-use, distribution, and reproduction in any medium, provided the original work is properly cited.
Copyright
Copyright © Cambridge University Press 2014

References

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