Platooning control of autonomous nonholonomic mobile robots in a human-robot coexisting environment

Marco L. Della Vedova; Matteo Rubagotti; Tullio Facchinetti; Antonella Ferrara

doi:10.1109/acc.2012.6314938

Platooning control of autonomous nonholonomic mobile robots in a human-robot coexisting environment

Marco L. Della Vedova, Matteo Rubagotti, Tullio Facchinetti, Antonella Ferrara

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

3 Citations (Scopus)

Abstract

This paper proposes a gradient tracking algorithm based on artificial harmonic potential fields, to support the platooning of a team of nonholonomic mobile robots. The main motivation is the need of dynamically changing the goal-point associated with each mobile robot, in order to guarantee the platoon string stability. Mobile obstacles are taken into account with an approach based on the so-called collision cone, and a time-varying artificial security radius is associated with each obstacle, in order to prevent collisions. In addition, the proposed method ensures recovering of the connectivity between robots forming the platoon, after that one of them goes far away from the others and loses the connection during an obstacle avoidance maneuver. Finally, the so-called interference index has been evaluated, to show the low impact of robot motion on human behaviors.

Original language	English
Title of host publication	2012 American Control Conference, ACC 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6569-6574
Number of pages	6
ISBN (Print)	9781457710957
DOIs	https://doi.org/10.1109/acc.2012.6314938
Publication status	Published - Nov 26 2012
Externally published	Yes
Event	2012 American Control Conference, ACC 2012 - Montreal, QC, Canada Duration: Jun 27 2012 → Jun 29 2012

Publication series

Name	Proceedings of the American Control Conference
ISSN (Print)	0743-1619

Conference

Conference	2012 American Control Conference, ACC 2012
Country	Canada
City	Montreal, QC
Period	6/27/12 → 6/29/12

Keywords

collision avoidance
human robot interaction
mobile robots
path planning

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.1109/acc.2012.6314938

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Cite this

Della Vedova, M. L., Rubagotti, M., Facchinetti, T., & Ferrara, A. (2012). Platooning control of autonomous nonholonomic mobile robots in a human-robot coexisting environment. In 2012 American Control Conference, ACC 2012 (pp. 6569-6574). [6314938] (Proceedings of the American Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/acc.2012.6314938

Platooning control of autonomous nonholonomic mobile robots in a human-robot coexisting environment. / Della Vedova, Marco L.; Rubagotti, Matteo; Facchinetti, Tullio; Ferrara, Antonella.

2012 American Control Conference, ACC 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 6569-6574 6314938 (Proceedings of the American Control Conference).

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

Della Vedova, ML, Rubagotti, M, Facchinetti, T & Ferrara, A 2012, Platooning control of autonomous nonholonomic mobile robots in a human-robot coexisting environment. in 2012 American Control Conference, ACC 2012., 6314938, Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 6569-6574, 2012 American Control Conference, ACC 2012, Montreal, QC, Canada, 6/27/12. https://doi.org/10.1109/acc.2012.6314938

Della Vedova ML, Rubagotti M, Facchinetti T, Ferrara A. Platooning control of autonomous nonholonomic mobile robots in a human-robot coexisting environment. In 2012 American Control Conference, ACC 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 6569-6574. 6314938. (Proceedings of the American Control Conference). https://doi.org/10.1109/acc.2012.6314938

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