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Article information
2016 , Volume 21, ¹ 1, p.70-79
Zolotukhin Y.N., Kotov K.Y., Maltsev A.S., Nesterov A.A., Sobolev M.A., Tsupa A.E.
Coordinated control of the mobile robots group for cargo transportation
Purpose. There is an increasing interest in the formation control and coordination of multiple mobile robots during the last years. Cooperative operation of mobile robots in a group is more efficient than the operation of a single robot in various situations including search, observation and transportation. The paper addresses how to control a group of mobile robots with differential drive in the problems of cargo transportation. We propose a multiple loop structure of the control system and a method for the collective transport in which each robot operate independently within the coordinated structure. Also we present a number of numerical and real experiments aimed at demonstrating the effectiveness of the proposed control scheme. Methodology. The structure of the control system belongs to a class of systems with a subordinate regulation that contains a set of paths aimed at solving specific problems, such as motion control of individual robot in a desired position, the correction of this position and its calculation, depending on the intended track movements of the cargo and the desired distribution of robots with respect to it. Control method is based on the result of the inverse problem of dynamics with additional feedback from the use of potentially available areas for correcting the desired position of each robot in order to maintain the configuration of the group. Findings. Analysis of experiments have shown the ability to maintain the desired group configuration with an error not exceeding 5 % compared to the required distance between the robots while moving along a piecewise linear path and rotating a cargo at points of discontinuity of these trajectories.
[full text]
Keywords: control of mobile robot groups, subordinate control, control system design
Author(s):
Zolotukhin Yuriy Nikolaevich
Dr.
Position: Senior Research Scientist
Office: Institute of Automation and Electrometry SB RAS
Address: 630090, Russia, Novosibirsk, Academician Koptyug ave. 1
Phone Office: (383) 333-26-25
E-mail: zol@idisys.iae.nsk.su
Kotov Konstantin Yurievich
PhD.
Position: Senior Research Scientist
Office: Institute of Automation and Electrometry SB RAS
Address: 630090, Russia, Novosibirsk, Academician Koptyug Avenue, 1
Phone Office: (383) 3332625
E-mail: kotov@idisys.iae.nsk.su
SPIN-code: 2929-6626Maltsev Alexander Sergeevich
PhD.
Position: Research Scientist
Office: Institute of Automation and Electrometry SB RAS
Address: 630090, Russia, Novosibirsk, Academician Koptyug Avenue, 1
Phone Office: (383) 3332625
E-mail: alexandr@idisys.iae.nsk.su
SPIN-code: 6104-5922Nesterov Artur Alexandrovich
PhD.
Position: Leading research officer
Office: Institute of Automation and Electrometry SB RAS
Address: 630090, Russia, Novosibirsk, Academician Koptyug Avenue, 1
Phone Office: (383) 3332625
E-mail: aranesterov@gmail.com
Sobolev Maksim Andreevich
Position: Junior Research Scientist
Office: Institute of Automation and Electrometry SB RAS
Address: 630090, Russia, Novosibirsk, Academician Koptyug Avenue, 1
Phone Office: (383) 3332625
E-mail: max@idisys.iae.nsk.su
SPIN-code: 7045-8270Tsupa Alena Evgenjevna
Position: Programmer
Office: Institute of Automation and Electrometry SB RAS
Address: 630090, Russia, Novosibirsk, Academician Koptyug Avenue, 1
Phone Office: (383) 3332625
E-mail: a.e.tsupa@gmail.com
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Bibliography link:
Zolotukhin Y.N., Kotov K.Y., Maltsev A.S., Nesterov A.A., Sobolev M.A., Tsupa A.E. Coordinated control of the mobile robots group for cargo transportation // Computational technologies. 2016. V. 21. ¹ 1. P. 70-79
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