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 |
| Pages | 6569-6574 |
| Number of pages | 6 |
| 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 |
Conference
| Conference | 2012 American Control Conference, ACC 2012 |
|---|---|
| Country | Canada |
| City | Montreal, QC |
| Period | 6/27/12 → 6/29/12 |
Fingerprint
Keywords
- collision avoidance
- human robot interaction
- mobile robots
- path planning
ASJC Scopus subject areas
- Electrical and Electronic Engineering
Cite this
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. 2012. p. 6569-6574 6314938.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Platooning control of autonomous nonholonomic mobile robots in a human-robot coexisting environment
AU - Della Vedova, Marco L.
AU - Rubagotti, Matteo
AU - Facchinetti, Tullio
AU - Ferrara, Antonella
PY - 2012/11/26
Y1 - 2012/11/26
N2 - 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.
AB - 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.
KW - collision avoidance
KW - human robot interaction
KW - mobile robots
KW - path planning
UR - http://www.scopus.com/inward/record.url?scp=84869449988&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84869449988&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9781457710957
SP - 6569
EP - 6574
BT - 2012 American Control Conference, ACC 2012
ER -