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
References: [1] Ogren, P., Fiorelli, E., Ehrich, L.N. Cooperative control of mobile sensor networks: Adaptive gradient climbing in a distributed environment. IEEE Transactions on Automatic Control. 2004; 49(8):1292–1302. [2] Lawton, J.R., Beard, R.W., Young, B.J. A decentralized approach to formation maneuvers. IEEE Transactions on Robotics and Automation. 2003; 19(6):933–941. [3] Nathan M., Jonathan F., Vijay K. Cooperative manipulation and transportation with aerial robots. Autonomous Robots. 2011; 30(1):73–86. [4] Yamashita, A., Arai, T., Ota, J., Asama, H. Motion planning of multiple mobile robots for Cooperative manipulation and transportation. Robotics and Automation. 2003; 19(2):223–237. [5] Rubenstein, M., Cabrera, A., Werfel, J. Collective transport of complex objects by simple robots: theory and experiments. Proceedings of the 40th International Conference Autonomous Agents and Multiagent Systems. 2013: 47–54. [6] Sugar, T., Kumar, V. Multiple cooperating mobile manipulators. Proceedings of the IEEE International Conference on Robotics and Automation. 1999: 1538–1543. [7] Krutko, P.D. Obratnye zadachi dinamiki teorii avtomaticheskogo upravleniya [Inverse problems in control system theory]. Moscow: Mashinostroenie; 2004: 576. (In Russ.) [8] Song, P., Kumar, R. A potential field based approach to multi-robot manipulation. Proceedings of the IEEE International Conference on Robotics and Automation. 2002; ( 2):1217–1222. [9] Welch, G., Bishop, G. An introduction to the Kalman filter. University of North Carolina at Chapel Hill, 1995. [10] Belokon’, S.A., Zolotukhin, Yu.N., Kotov, K.Yu., Mal’tsev, A.S., Nesterov, A.A., Pivkin, V.Ya., Sobolev, M.A., Filippov, M.N., Yan, A.P. Using the Kalman filter in the quadrotor vehicle trajectory tracking system. Optoelectronics, Instrumentation and Data Processing. 2013; 49(6):536–545.
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
|