A Feedback Stabilization and Collision Avoidance Scheme for Multiple Independent Nonholonomic Non-Point Agents

Author

Dimarogonas, Dimos V. ; Kyriakopoulos, K.J.

Author_Institution

Dept. of Mech. Eng., Nat. Tech. Univ. of Athens

fYear

2005

fDate

27-29 June 2005

Firstpage

820

Lastpage

825

Abstract

A navigation functions´ based methodology, established previously for decentralized navigation of multiple holonomic agents, is extended to address the problem of decentralized navigation of multiple nonholonomic agents. In contrast to our previous work, each agent does not require any knowledge about the velocities and the desired destinations of the other members of the team. Furthermore, the control inputs are the acceleration and rotational velocity of each vehicle, coping in this way with realistic dynamics of classes of mechanical systems. Asymptotic stability is guaranteed by LaSalle´s invariance principle for nonsmooth systems. The collision avoidance and global convergence properties are verified through simulations

Keywords

asymptotic stability; collision avoidance; decentralised control; feedback; mobile robots; multi-robot systems; robot dynamics; LaSalle invariance principle; acceleration; asymptotic stability; collision avoidance scheme; decentralized navigation; feedback stabilization; global convergence; mechanical system dynamics; multiple independent nonholonomic nonpoint agents; nonsmooth systems; rotational velocity; Acceleration; Asymptotic stability; Collision avoidance; Control systems; Convergence; Feedback; Mechanical systems; Navigation; Vehicle dynamics; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation

Conference_Location

Limassol

ISSN

2158-9860

Print_ISBN

0-7803-8936-0

Type

conf

DOI

10.1109/.2005.1467120

Filename

1467120