Distributed Tracking Control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication

Guoyong Liu; Moshu Qian; Cuimei Bo; Zhifeng Gao

doi:10.1109/RCAE59706.2023.10398854

Distributed Tracking Control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication

Guoyong Liu, Moshu Qian, Cuimei Bo, Zhifeng Gao

COLLEGE OF ELECTRICAL ENGINEERING AND CONTROL SCIENCE

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This article studies the cooperative tracking control and obstacle avoidance problem for wheeled mobile robots (WMRs) under event-Triggered communication. The dynamics of WMRs are considered first. To handle the constraint that only part of the robots can access the leader, the distributed state estimators are designed. Then, an event-Triggered based tracking control and obstacle avoidance scheme is developed by utilizing a backstepping control technique and artificial potential field (APF). The stability of the closed-loop system is proved and Zeno behaviors are excluded. Finally, the simulation of three robots is implemented to illustrate the superiority of the presented scheme.

Original language	English
Title of host publication	2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	33-38
Number of pages	6
ISBN (Electronic)	9798350315301
DOIs	https://doi.org/10.1109/RCAE59706.2023.10398854
State	Published - 2023
Event	6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023 - Suzhou, China Duration: 3 Nov 2023 → 5 Nov 2023

Publication series

Name	2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023

Conference

Conference	6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023
Country/Territory	China
City	Suzhou
Period	3/11/23 → 5/11/23

Keywords

Obstacle avoidance
artificial potential field
distributed tracking control
dynamic event-Triggered
mobile robots

Access to Document

10.1109/RCAE59706.2023.10398854

Cite this

Liu, G., Qian, M., Bo, C., & Gao, Z. (2023). Distributed Tracking Control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication. In 2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023 (pp. 33-38). (2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/RCAE59706.2023.10398854

Liu, Guoyong ; Qian, Moshu ; Bo, Cuimei et al. / Distributed Tracking Control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication. 2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 33-38 (2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023).

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title = "Distributed Tracking Control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication",

abstract = "This article studies the cooperative tracking control and obstacle avoidance problem for wheeled mobile robots (WMRs) under event-Triggered communication. The dynamics of WMRs are considered first. To handle the constraint that only part of the robots can access the leader, the distributed state estimators are designed. Then, an event-Triggered based tracking control and obstacle avoidance scheme is developed by utilizing a backstepping control technique and artificial potential field (APF). The stability of the closed-loop system is proved and Zeno behaviors are excluded. Finally, the simulation of three robots is implemented to illustrate the superiority of the presented scheme.",

keywords = "Obstacle avoidance, artificial potential field, distributed tracking control, dynamic event-Triggered, mobile robots",

author = "Guoyong Liu and Moshu Qian and Cuimei Bo and Zhifeng Gao",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023 ; Conference date: 03-11-2023 Through 05-11-2023",

year = "2023",

doi = "10.1109/RCAE59706.2023.10398854",

language = "英语",

series = "2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "33--38",

booktitle = "2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023",

address = "美国",

}

Liu, G, Qian, M, Bo, C & Gao, Z 2023, Distributed Tracking Control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication. in 2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023. 2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023, Institute of Electrical and Electronics Engineers Inc., pp. 33-38, 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023, Suzhou, China, 3/11/23. https://doi.org/10.1109/RCAE59706.2023.10398854

Distributed Tracking Control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication. / Liu, Guoyong; Qian, Moshu; Bo, Cuimei et al.
2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 33-38 (2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Distributed Tracking Control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication

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N2 - This article studies the cooperative tracking control and obstacle avoidance problem for wheeled mobile robots (WMRs) under event-Triggered communication. The dynamics of WMRs are considered first. To handle the constraint that only part of the robots can access the leader, the distributed state estimators are designed. Then, an event-Triggered based tracking control and obstacle avoidance scheme is developed by utilizing a backstepping control technique and artificial potential field (APF). The stability of the closed-loop system is proved and Zeno behaviors are excluded. Finally, the simulation of three robots is implemented to illustrate the superiority of the presented scheme.

AB - This article studies the cooperative tracking control and obstacle avoidance problem for wheeled mobile robots (WMRs) under event-Triggered communication. The dynamics of WMRs are considered first. To handle the constraint that only part of the robots can access the leader, the distributed state estimators are designed. Then, an event-Triggered based tracking control and obstacle avoidance scheme is developed by utilizing a backstepping control technique and artificial potential field (APF). The stability of the closed-loop system is proved and Zeno behaviors are excluded. Finally, the simulation of three robots is implemented to illustrate the superiority of the presented scheme.

KW - Obstacle avoidance

KW - artificial potential field

KW - distributed tracking control

KW - dynamic event-Triggered

KW - mobile robots

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T3 - 2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023

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PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 3 November 2023 through 5 November 2023

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Liu G, Qian M, Bo C, Gao Z. Distributed Tracking Control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication. In 2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023. Institute of Electrical and Electronics Engineers Inc. 2023. p. 33-38. (2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023). doi: 10.1109/RCAE59706.2023.10398854

Distributed Tracking Control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication

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