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 proceedingConference contribution

3 Citations (Scopus)


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 languageEnglish
Title of host publication2012 American Control Conference, ACC 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781457710957
Publication statusPublished - Nov 26 2012
Externally publishedYes
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Publication series

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


Conference2012 American Control Conference, ACC 2012
CityMontreal, QC


  • collision avoidance
  • human robot interaction
  • mobile robots
  • path planning

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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