Abstract
In this chapter, a nonlinear control design is proposed for a team of wheeled mobile robots to cooperate in a dynamically evolving environment to track their virtual leader(s), while avoiding static and dynamic obstacles. Toward this end, a multi-objective control problem is formulated, and the control is synthesized by generating a potential field force for each objective and combining them through analysis and design. To the best of our knowledge, the proposed design is the first systematic approach to accommodate and achieve the multiple objectives of cooperative motion, tracking virtual command vehicle(s), obstacle avoidance, and oscillation suppression. Basic conditions and key properties are derived using rigorous Lyapunov analysis and theoretical proof. The results are illustrated by several simulation examples including cooperative motion of a team of vehicles moving through urban settings with static and moving obstacles, as well as narrow passages.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Balch, T., Arkin, R.C.: Behavior-based formation control for multi-robot team. IEEE Transactions on Robotics and Automation 14(6), 926–939 (1998)
Lewis, M.A., Tan, K.H.: High Precision Formation Control of Mobile Robots Using Virtual Structures. Autonomous Robots 4(4), 387–403 (1997)
Ren, W., Beard, R.W.: Virtual Structure based Spacecraft Formation Control with Formation Feedback. In: AIAA Guidance and Control Conference, Monterey, CA, AIAA Paper no. 2002-4963 (August 2002)
Do, K.D., Pan, J.: Nonlinear formation control of unicycle-type mobile robots. Robotics and Autonomous Systems 55(3), 191–204 (2007)
Young, B.J., Beard, R.W., Kelsey, J.M.: A Control Scheme for Improving Multi-Vehicle Formation Maneuvers. In: American Control Conference, Arlington, VA, June 25-27, pp. 704–709 (2001)
Edwards, D.B., Bean, T., Odell, D., Anderson, M.J.: A Leader-Follower Algorithm for Multiple AUV Formations. In: Proceedings of 2004 IEEE/OES Autonomous Underwater Vehicles, Sebasco Estates, Maine, June 17-18 (2004)
Lawton, J., Beard, R., Young, B.: A Decentralized Approach To Formation Maneuvers. IEEE Transactions on Robotics and Automation 19(6), 933–941 (2003)
Tanner, H.G., Pappas, G.J., Kumar, V.: Leader-to-Formation Stability. IEEE Transactions on Robotics and Automation 20(3), 433–455 (2004)
Consolini, L., Morbidi, F., Prattichizzo, D., Tosques, M.: A Geometric Characterization of Leader-Follower Formation Control. In: Proc. of the IEEE International Conference on Robotics and Automation, Rome, April 10-14, 2007, pp. 2397–2402 (2007)
Mesbahi, M., Hadaegh, F.Y.: Graphs, matrix inequalities, and switching for the formation flying control of multiple spacecraft. In: American Control Conference, San Diego, CA, June 2-4, 1999, pp. 4148–4152 (1999)
Koren, Y., Borenstein, J.: Potential Field Methods and Their Inherent Limitations for Mobile Robot Navigation. In: Proceeding of the IEEE International Conference on Robotics and Automation, pp. 1398–1404 (1991)
Stipanovic, D.M., Shankaran, S., Tomlin, C.J.: Multi-agent avoidance control using an M-matrix property. Electronic Journal of Linear Alebra 12, 64–72 (2005)
Leitmann, G., Skowronski, J.: Avoidance control. Journal of Optimization Theory and Applications 23, 581–591 (1977)
Leitmann, G., Skowronski, J.: A note on avoidance control. Optimal Control Applications & Methods 4, 335–342 (1983)
Leonard, N.E., Fiorelli, E.: Virtual leaders, artificial potentials and coordinated control of groups. In: Proc. IEEE Conference on Decision and Control, Orlando, Florida, USA, December 2001, vol. 3, p. 2968–2973 (2001)
Do, K.D.: Bounded Controllers for Formation Stabilization of Mobile Agents With Limited Sensing Ranges. IEEE Transactions on Automatic Control 52, 569–576 (2007)
Mastellone, S., Stipanovic, D.M., Graunke, C.R., Intlekofer, K.A., Spong, M.W.: Formation Control and Collision Avoidance for Multi-agent Non-holonomic Systems: Theory and Experiments. The International Journal of Robotics Research 27(1), 107–126 (2008)
Qu, Z., Wang, J., Hull, R.A.: Cooperative Control of Dynamical Systems with Application to Autonomous Vehicles. IEEE Transactions on Automatic Control (to appear, May 2008)
Khalil, H.K.: Nonlinear Systems, 3rd edn. Prentice-Hall, Upper Saddle River
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Chunyu, J., Qu, Z., Pollak, E., Falash, M. (2009). A New Multi-objective Control Design for Autonomous Vehicles. In: Hirsch, M.J., Commander, C.W., Pardalos, P.M., Murphey, R. (eds) Optimization and Cooperative Control Strategies. Lecture Notes in Control and Information Sciences, vol 381. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88063-9_5
Download citation
DOI: https://doi.org/10.1007/978-3-540-88063-9_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-88062-2
Online ISBN: 978-3-540-88063-9
eBook Packages: EngineeringEngineering (R0)