Sharma Bibhya, Karan Riteshni D, Kumar Sandeep A, Prasad Avinesh
School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Fiji.
Heliyon. 2023 Apr 23;9(5):e15727. doi: 10.1016/j.heliyon.2023.e15727. eCollection 2023 May.
After making progression in developing the fundamental problems related to single-robot control, many researchers swerved and diverged their focus to studying multi-robot coordination. This research aims to take the motion planning and control (MPC) problem of a multi-robot system into a new space by considering a compartmentalized robot. An efficient variant of globally rigid formation, in which multiple car-like units are adjoint and move in parallel without collisions. The motion is governed by one of the sub-units acting as a leader, while other units maintain the fixed distance amongst each other and the leader in a rigid formation. The minimum distance technique is an important input to facilitate collision avoidance, robot decision making, and robot navigation. In this study a novel method to analytically compute the minimum distance between the closest point on the line segments of rectangular protective region and the obstacle is presented. Utilizing the Lyapunov-based Control Scheme a set of autonomous controllers are designed. Computer simulations of the proposed Lyapunov-based controllers for the compartmentalized robot are presented in interesting scenarios to show the efficacy of the unique set of controllers. In these simulations, the compartmentalized robot shows strict maintenance of a rigid formation with efficient collision and obstacle avoidance. The results open up research in the design and implementation of controllers by considering multiple compartmentalized robots into swarm models, splitting and re-joining units, and applying rotational leadership ideas.
在解决了与单机器人控制相关的基本问题并取得进展之后，许多研究人员将关注点转向了多机器人协调的研究。本研究旨在通过考虑一种分舱式机器人，将多机器人系统的运动规划与控制（MPC）问题带入一个新的领域。一种全局刚性编队的有效变体，其中多个类似汽车的单元相邻且并行移动而不发生碰撞。运动由作为领导者的一个子单元控制，而其他单元在刚性编队中相互之间以及与领导者保持固定距离。最小距离技术是促进避碰、机器人决策和机器人导航的重要输入。在本研究中，提出了一种新颖的方法来解析计算矩形保护区域线段上最近点与障碍物之间的最小距离。利用基于李雅普诺夫的控制方案设计了一组自主控制器。在所提出的基于李雅普诺夫的分舱式机器人控制器的计算机模拟中，展示了有趣场景下的模拟结果，以表明这组独特控制器的有效性。在这些模拟中，分舱式机器人展示了对刚性编队的严格维持以及高效的避碰和避障能力。这些结果开启了通过将多个分舱式机器人纳入群体模型、拆分和重新组合单元以及应用旋转领导思想来进行控制器设计和实现的研究。
