Distance-Based Formation Maneuvering of Mobile Robots with Static Obstacles

Farid Sahebsara; Marcio De Queiroz

doi:10.1109/CCTA49430.2022.9966079

Distance-Based Formation Maneuvering of Mobile Robots with Static Obstacles

Farid Sahebsara
, Marcio De Queiroz

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

We introduce here a distance-based formation ma-neuvering control scheme for a group of nonholonomic mobile robots operating in 2D environments with unknown static obstacles. We merge the distance-based formation controller with the Vector Field Histogram method such that the robots temporarily separate into subsets of the full formation for obstacle avoidance purposes, thus facilitating the subsequent reassembly. The overall control system is decentralized since it only requires onboard sensors for inter-robot relative positioning and obstacle detection. We illustrate the proposed control via simulations for two typical obstacle avoidance scenarios.

Original language	English
Title of host publication	2022 IEEE Conference on Control Technology and Applications, CCTA 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	470-475
Number of pages	6
ISBN (Electronic)	9781665473385
ISBN (Print)	9781665473385
DOIs	https://doi.org/10.1109/CCTA49430.2022.9966079
State	Published - Aug 23 2022
Externally published	Yes
Event	2022 IEEE Conference on Control Technology and Applications, CCTA 2022 - Trieste, Italy Duration: Aug 23 2022 → Aug 25 2022

Publication series

Name	2022 IEEE Conference on Control Technology and Applications, CCTA 2022

Conference

Conference	2022 IEEE Conference on Control Technology and Applications, CCTA 2022
Country/Territory	Italy
City	Trieste
Period	08/23/22 → 08/25/22

Access to Document

10.1109/CCTA49430.2022.9966079

Cite this

Sahebsara, F., & De Queiroz, M. (2022). Distance-Based Formation Maneuvering of Mobile Robots with Static Obstacles. In 2022 IEEE Conference on Control Technology and Applications, CCTA 2022 (pp. 470-475). (2022 IEEE Conference on Control Technology and Applications, CCTA 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CCTA49430.2022.9966079

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title = "Distance-Based Formation Maneuvering of Mobile Robots with Static Obstacles",

abstract = "We introduce here a distance-based formation ma-neuvering control scheme for a group of nonholonomic mobile robots operating in 2D environments with unknown static obstacles. We merge the distance-based formation controller with the Vector Field Histogram method such that the robots temporarily separate into subsets of the full formation for obstacle avoidance purposes, thus facilitating the subsequent reassembly. The overall control system is decentralized since it only requires onboard sensors for inter-robot relative positioning and obstacle detection. We illustrate the proposed control via simulations for two typical obstacle avoidance scenarios.",

author = "Farid Sahebsara and \{De Queiroz\}, Marcio",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 2022 IEEE Conference on Control Technology and Applications, CCTA 2022 ; Conference date: 23-08-2022 Through 25-08-2022",

year = "2022",

month = aug,

day = "23",

doi = "10.1109/CCTA49430.2022.9966079",

language = "English",

isbn = "9781665473385",

series = "2022 IEEE Conference on Control Technology and Applications, CCTA 2022",

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Sahebsara, F & De Queiroz, M 2022, Distance-Based Formation Maneuvering of Mobile Robots with Static Obstacles. in 2022 IEEE Conference on Control Technology and Applications, CCTA 2022. 2022 IEEE Conference on Control Technology and Applications, CCTA 2022, Institute of Electrical and Electronics Engineers Inc., pp. 470-475, 2022 IEEE Conference on Control Technology and Applications, CCTA 2022, Trieste, Italy, 08/23/22. https://doi.org/10.1109/CCTA49430.2022.9966079

Distance-Based Formation Maneuvering of Mobile Robots with Static Obstacles. / Sahebsara, Farid; De Queiroz, Marcio.
2022 IEEE Conference on Control Technology and Applications, CCTA 2022. Institute of Electrical and Electronics Engineers Inc., 2022. p. 470-475 (2022 IEEE Conference on Control Technology and Applications, CCTA 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - De Queiroz, Marcio

PY - 2022/8/23

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N2 - We introduce here a distance-based formation ma-neuvering control scheme for a group of nonholonomic mobile robots operating in 2D environments with unknown static obstacles. We merge the distance-based formation controller with the Vector Field Histogram method such that the robots temporarily separate into subsets of the full formation for obstacle avoidance purposes, thus facilitating the subsequent reassembly. The overall control system is decentralized since it only requires onboard sensors for inter-robot relative positioning and obstacle detection. We illustrate the proposed control via simulations for two typical obstacle avoidance scenarios.

AB - We introduce here a distance-based formation ma-neuvering control scheme for a group of nonholonomic mobile robots operating in 2D environments with unknown static obstacles. We merge the distance-based formation controller with the Vector Field Histogram method such that the robots temporarily separate into subsets of the full formation for obstacle avoidance purposes, thus facilitating the subsequent reassembly. The overall control system is decentralized since it only requires onboard sensors for inter-robot relative positioning and obstacle detection. We illustrate the proposed control via simulations for two typical obstacle avoidance scenarios.

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DO - 10.1109/CCTA49430.2022.9966079

M3 - Conference contribution

AN - SCOPUS:85144591607

SN - 9781665473385

T3 - 2022 IEEE Conference on Control Technology and Applications, CCTA 2022

SP - 470

EP - 475

BT - 2022 IEEE Conference on Control Technology and Applications, CCTA 2022

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2022 IEEE Conference on Control Technology and Applications, CCTA 2022

Y2 - 23 August 2022 through 25 August 2022

ER -

Sahebsara F, De Queiroz M. Distance-Based Formation Maneuvering of Mobile Robots with Static Obstacles. In 2022 IEEE Conference on Control Technology and Applications, CCTA 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 470-475. (2022 IEEE Conference on Control Technology and Applications, CCTA 2022). Epub 2022 Aug 23. doi: 10.1109/CCTA49430.2022.9966079

Distance-Based Formation Maneuvering of Mobile Robots with Static Obstacles

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