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Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems

Published online by Cambridge University Press:  14 January 2021

Jinwei Yu Open the ORCID record for Jinwei Yu [Opens in a new window] ,
Jinchen Ji ,
Zhonghua Miao  and
Jin Zhou
Jinwei Yu*
Affiliation:
College of Mathematics, Taiyuan University of Technology, Shanxi030024, China
Jinchen Ji
Affiliation:
School of Mechanical and Mechatronic Engineering, University of Technology Sydney, Ultimo, NSW 2007, Australia, E-mail: jin.ji@uts.edu.au
Zhonghua Miao
Affiliation:
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai200072, China, E-mail: zhhmiao@shu.edu.cn
Jin Zhou
Affiliation:
School of Mechanics and Engineering Science, Shanghai University, Shanghai200072, China, E-mail: jzhou@shu.edu.cn
*
*Corresponding author. E-mail: yujinwei@tyut.edu.cn
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Summary

This paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method.

Keywords

Distributed controlMulti-robot systemsAdaptive gain techniquesRegion controlCollision avoidance
Type
Article
Information
Robotica , Volume 39 , Issue 8 , August 2021 , pp. 1405 - 1416
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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