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

2 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 languageEnglish
Title of host publication2012 American Control Conference, ACC 2012
Pages6569-6574
Number of pages6
Publication statusPublished - Nov 26 2012
Externally publishedYes
Event2012 American Control Conference, ACC 2012 - Montreal, QC, Canada
Duration: Jun 27 2012Jun 29 2012

Conference

Conference2012 American Control Conference, ACC 2012
CountryCanada
CityMontreal, QC
Period6/27/126/29/12

Fingerprint

Mobile robots
Robots
Collision avoidance
Cones

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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]

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 proceedingConference 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, pp. 6569-6574, 2012 American Control Conference, ACC 2012, Montreal, QC, Canada, 6/27/12.
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. 2012. p. 6569-6574. 6314938
Della Vedova, Marco L. ; Rubagotti, Matteo ; Facchinetti, Tullio ; Ferrara, Antonella. / Platooning control of autonomous nonholonomic mobile robots in a human-robot coexisting environment. 2012 American Control Conference, ACC 2012. 2012. pp. 6569-6574
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