Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance
Jai Raj, Krishna Raghuwaiya, Bibhya Sharma, Jito Vanualailai
Abstract
SUMMARY This paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.
Topics & Concepts
Swarm behaviourObstacle avoidanceCollision avoidanceRobotObstacleComputer scienceScheme (mathematics)Motion planningControl theory (sociology)Set (abstract data type)Motion controlMotion (physics)Nonlinear systemControl (management)Artificial intelligenceCollisionMobile robotMathematicsLawPhysicsComputer securityQuantum mechanicsProgramming languagePolitical scienceMathematical analysisRobotic Path Planning AlgorithmsDistributed Control Multi-Agent SystemsControl and Dynamics of Mobile Robots