TY - GEN
T1 - Distributed Tracking Control and Obstacle Avoidance of Mobile Robots over Event-Triggered Communication
AU - Liu, Guoyong
AU - Qian, Moshu
AU - Bo, Cuimei
AU - Gao, Zhifeng
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
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
UR - http://www.scopus.com/inward/record.url?scp=85185198654&partnerID=8YFLogxK
U2 - 10.1109/RCAE59706.2023.10398854
DO - 10.1109/RCAE59706.2023.10398854
M3 - 会议稿件
AN - SCOPUS:85185198654
T3 - 2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023
SP - 33
EP - 38
BT - 2023 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th International Conference on Robotics, Control and Automation Engineering, RCAE 2023
Y2 - 3 November 2023 through 5 November 2023
ER -