Distance- and Velocity-Based Simultaneous Obstacle Avoidance and Target Tracking for Multiple Wheeled Mobile Robots
Li, Xiaoxiao; Xu, Zhihao; Su, Zerong; Wang, Hongpeng; Li, Shuai (2023-09-18)
IEEE
18.09.2023
X. Li, Z. Xu, Z. Su, H. Wang and S. Li, "Distance- and Velocity-Based Simultaneous Obstacle Avoidance and Target Tracking for Multiple Wheeled Mobile Robots," in IEEE Transactions on Intelligent Transportation Systems, vol. 25, no. 2, pp. 1736-1748, Feb. 2024, doi: 10.1109/TITS.2023.3312373
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© 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists,or reuse of any copyrighted component of this work in other works.
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Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:oulu-202403152245
https://urn.fi/URN:NBN:fi:oulu-202403152245
Tiivistelmä
Abstract
This paper proposes the distance- and velocity-based simultaneous obstacle avoidance and target tracking (DV-SOATT) method for the trajectory tracking problem of multiple wheeled mobile robots (MWMRs) operating in a shared workspace based on the relative positions and velocities of the wheeled mobile robots (WMRs) and their encountered obstacles. Compared to the previous arts considered only their relative positions, the DV-SOATT method that adds an auxiliary velocity vector lessens needless activation of the collision avoidance maneuvers, where the DV-SOATT introduces radial bounds for forecasting a collision. We provide two decision criteria for the addition of the auxiliary velocity term and compare the DV-SOATT method with the original method proposed by Li et al. (2021). The problem of the WMRs pause from the path conflict is addressed. Bound constraints on MWMRs’ velocities are considered to restrict the movement speed of the robot so as to ensure smoothness. The control law is built on Lagrange multipliers on basis of constructing a quadratic programming problem. Slack variables are discarded. Bound constraints on optimization variables are included in the piecewise-linear projection function. The stability of the control law, together with the efficiency of the DV-SOATT method, is discussed based on the Lyapunov function. The efficiency is tested on multiple omnidirectional Mecanum-wheeled mobile robots and validated through physical experiments and simulation.
This paper proposes the distance- and velocity-based simultaneous obstacle avoidance and target tracking (DV-SOATT) method for the trajectory tracking problem of multiple wheeled mobile robots (MWMRs) operating in a shared workspace based on the relative positions and velocities of the wheeled mobile robots (WMRs) and their encountered obstacles. Compared to the previous arts considered only their relative positions, the DV-SOATT method that adds an auxiliary velocity vector lessens needless activation of the collision avoidance maneuvers, where the DV-SOATT introduces radial bounds for forecasting a collision. We provide two decision criteria for the addition of the auxiliary velocity term and compare the DV-SOATT method with the original method proposed by Li et al. (2021). The problem of the WMRs pause from the path conflict is addressed. Bound constraints on MWMRs’ velocities are considered to restrict the movement speed of the robot so as to ensure smoothness. The control law is built on Lagrange multipliers on basis of constructing a quadratic programming problem. Slack variables are discarded. Bound constraints on optimization variables are included in the piecewise-linear projection function. The stability of the control law, together with the efficiency of the DV-SOATT method, is discussed based on the Lyapunov function. The efficiency is tested on multiple omnidirectional Mecanum-wheeled mobile robots and validated through physical experiments and simulation.
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