Nonholonomic Agents Research Articles

2123 3次元空間における衝突回避を考慮した非ホロノミックエージェントの姿勢合意(フォーメーション制御の理論と応用)

In this paper, we discuss the problem of flocking of kinematic nonholonomic agents in the three dimensional space. The proposed control laws ensure that all agents headings converge asymptotically to the reference and collisions between the all agents are avoided. The asymptotical convergence can be shown by using the algebraic graph theory and LaSalle's invariant principle. Experimental results show the effectiveness of our proposed method and efficacy of the collision avoidance for the multiple two wheeled vehicles.

A feedback control scheme for multiple independent dynamic non-point agents

The Decentralized Navigation Functions' (DNF) based methodology, established in our previous work (D.V. Dimarogonas, M.M. Zavlanos, S.G. Loizou and K.J. Kyriakopoulos, “Decentralized motion control of multiple holonomic agents under input constraints”, in 42nd IEEE Conf. Deci. Cont., 2003, pp. 3390–3395 and S.G. Loizou, D.V. Dimarogonas and K.J. Kyriakopoulos, “Decentralized feedback stabilization of multiple nonholonomic agents”, in 2004 IEEE Int. Conf. on Robotics and Autom., 2004, pp. 3012–3017) on multi-agent systems with kinematic models of motion, is extended to the case where dynamic models of motion for both holonomic and nonholonomic agents must be treated. The proposed control scheme guarantees collision avoidance and global convergence of the multi-agent team to the desired goal configuration. The volume of each agent is taken into account and non-point models are considered. The satisfaction of the imposed system specifications under the proposed control scheme are verified and depicted through non-trivial computer simulations.

Centralized feedback stabilization of multiple nonholonomic agents under input constraints

In this paper we use the centralized multirobot navigation function methodology established by the authors, augmented with an enhanced dipolar navigation field suitable for non-holonomic vehicls. A properly designed discontinuous feedback control law is applied to steer the nonholonomic vehicles. The esulting high frequency switching behavior, known as chattering, which is inherent in discontinuous controllers, is tackled with an appropriately designed discontinuous backstepping controller, which effectively reduces chattering. The vehicles are assumed to have limitations on their maximum achievable velocities. Those issues are taken into account in the control law design. The resulting closed form control scheme provides robust navigation withguaranteed collision avoidance and global convergence properties, as well as fast feedback, rendering the methodology particularly suitable for real time implementation, on systems with limited actuation capabilities. Collision avoidance and global convergence properties are verified through non - trivial computer simulations.

Plane Pursuit with Curvature Constraints

Plane Pursuit with Curvature Constraints