Collision avoidance for multiple Lagrangian dynamical systems with gyroscopic forces
This article introduces a novel methodology for dealing with collision avoidance for groups of mobile robots. In particular, full dynamics are considered, since each robot is modeled as a Lagrangian dynamical system moving in a three-dimensional environment. Gyroscopic forces are utilized for defini...
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Veröffentlicht in: | International journal of advanced robotic systems 2017-01, Vol.14 (1) |
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Format: | Artikel |
Sprache: | eng |
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Zusammenfassung: | This article introduces a novel methodology for dealing with collision avoidance for groups of mobile robots. In particular, full dynamics are considered, since each robot is modeled as a Lagrangian dynamical system moving in a three-dimensional environment. Gyroscopic forces are utilized for defining the collision avoidance control strategy: This kind of forces leads to avoiding collisions, without interfering with the convergence properties of the multi-robot system’s desired control law. Collision avoidance introduces, in fact, a perturbation on the nominal behavior of the system: We define a method for choosing the direction of the gyroscopic force in an optimal manner, in such a way that perturbation is minimized. Collision avoidance and convergence properties are analytically demonstrated, and simulation results are provided for validation purpose. |
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ISSN: | 1729-8806 1729-8814 |
DOI: | 10.1177/1729881416687109 |