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Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Published online by Cambridge University Press:  17 February 2021

Jai Raj Open the ORCID record for Jai Raj [Opens in a new window] ,
Krishna Raghuwaiya ,
Bibhya Sharma Open the ORCID record for Bibhya Sharma [Opens in a new window]  and
Jito Vanualailai
Jai Raj*
Affiliation:
School of Computing, Information & Mathematical Sciences, The University of the South Pacific, Suva, Fiji, E-mails: bibhya.sharma@usp.ac.fj, vanualailai@usp.ac.fj
Krishna Raghuwaiya
Affiliation:
School of Education, The University of the South Pacific, Suva, Fiji, E-mail: krishna.raghuwaiya@usp.ac.fj
Bibhya Sharma
Affiliation:
School of Education, The University of the South Pacific, Suva, Fiji, E-mail: krishna.raghuwaiya@usp.ac.fj
Jito Vanualailai
Affiliation:
School of Computing, Information & Mathematical Sciences, The University of the South Pacific, Suva, Fiji, E-mails: bibhya.sharma@usp.ac.fj, vanualailai@usp.ac.fj
*
*Corresponding author. E-mail: jai.raj@usp.ac.fj
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Summary

This paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.

Keywords

Tractor–trailerCollision avoidanceUnmanned vehiclesSwarmMotion controlLyapunov-based Control Scheme
Type
Article
Information
Robotica , Volume 39 , Issue 11 , November 2021 , pp. 1926 - 1951
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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