Stable Coordinated Platooning by a Group of Mobile Robots Anjan Kumar Ray , Martin McGinnity , Laxmidhar Behera, Sonya Coleman. Anjan Kumar Ray Research Associate, ISRC UKIERI Workshop on the Fusion of BCI and Assistive Robotics, 7-8 July, 2011. Presentation Outline.
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Stable Coordinated Platooning by a Group of Mobile RobotsAnjan Kumar Ray , Martin McGinnity , Laxmidhar Behera, Sonya Coleman
Anjan Kumar Ray
Research Associate, ISRC
UKIERI Workshop on the Fusion of BCI and Assistive Robotics, 7-8 July, 2011
Network model of individual robot
Each robot acts as a server of different information for other robots.
Each robot can request information from other robots.
A robot can be connected by an individual robot or a group of robots.
A robot can connect to an individual robot or a group of robots.
A robot can switch among server robots depending on requirements.
(b) A group of robots turn
(a) Linear velocity control
The objective : Robots can share information in a decentralized way
Figure 1: Column of robots
Figure 2: Platoon of robots
Velocities of the front members satisfying all constraints are defined by
Similarly, the velocities of the column members are defined by
front members remain same
Same velocity profile:
Change of front members
Resuming straight path
Continuous turning sequences
Continuous left turns
Continuous right turns
Coordination along straight path
Coordination during turning
Resuming straight path after turning
Relative heading with respect to the leader
Addition of new members:
The control law is obtained by minimizing the cost function as
Finally, velocity inputs to the external robot are given by
Paths of an existing formation
along with an external robot
Two robots (blue)
One robot (blue)