Collaborative Event-Triggered Control for Omnidirectional Robots with Obstacle Avoidance

Resumen: In this paper, a collaborative event-triggered control strategy for a group of mobile agents is introduced. The communications between agents are asynchronous due to the eventtriggered approach proposed. In this context, the agents broadcast their state information only when a specific condition is accomplished. The elements that compose the network consist of a set of omnidirectional (3,0) mobile robots. The event-triggered control strategy is designed to perform formations while avoiding collisions among them and against identified obstacles. Simulation results performed in MATLAB/Simulink of 10 omnidirectional vehicles are presented to corroborate that this control allows agents to reach the requested formation. Finally, a Montecarlo analysis is included to ensure the repeatability of the results.

¿Cómo citar?

Nestor Tolentino, Mauricio Longinos, J. Fermi Guerrero-Castellanos, Josefina Castañeda Camacho & Ricardo Alvarez Gonzalez. Collaborative Event-Triggered Control for Omnidirectional Robots with Obstacle Avoidance. Memorias del Congreso Nacional de Control Automático, pp. 1-6, 2020.

Palabras clave

: CPS, VCPS, VANET, mobile robot (3,0), event-triggered control, collaborative control, multi-agent system, collision avoidance

• Basagni, S., Conti, M., Giordano, S., and Stojmenovic, I. (2004). Mobile ad hoc networking. URL http:// site.ebrary.com/lib/alltitles/docDetail. action?docID=10114079. Electronic reproduction, Somerset, New Jersey : Wiley InterScience.
• Bradley, J.M. and Atkins, E.M. (2015). Optimization and control of cyber-physical vehicle systems. Sensors, 15(9), 23020–23049.
• Dignum, V. (2009). Handbook of research on multi-agent systems: semantics and dynamics of organizational models. Information Science Reference Hershey.
• Grocholsky, B., Keller, J., Kumar, V., and Pappas, G. (2006). Cooperative air and ground surveillance. IEEE Robotics & Automation Magazine, 13(3), 16–25.
• Guerrero-Castellanos, J., Vega-Alonzo, A., Durand, S., Marchand, N., Gonzalez-Diaz, V., Castañeda Camacho, J., and Guerrero-Sánchez, W. (2019). Leader-Following Consensus and Formation Control of VTOL-UAVs with Event-Triggered Communications. Sensors, 19(24), 1–26.
• Guerrero-Castellanos, J., Villarreal-Cervantes, M., Sánchez-Santana, J., and Ramírez-Martínez, S. (2014). Seguimiento de trayectorias de un robot móvil (3,0) mediante control acotado. Revista Iberoamericana de Automática e Informática Industrial RIAI, 11(4), 426–434. doi:10.1016/j.riai.2014.09.005.
• Kim, K.D. and Kumar, P.R. (2012). Cyber physical systems: A perspective at the centennial. Proceedings of the IEEE, 100, 1287–1308. doi:10.1109/JPROC.2012. 2189792.
• Kraetzschmar, G.K., Hochgeschwender, N., Nowak, W., Hegger, F., Schneider, S., Dwiputra, R., Berghofer, J., and Bischoff, R. (2014). Robocup@work: Competing for the factory of the future. In R.A.C. Bianchi, H.L. Akin, S. Ramamoorthy, and K. Sugiura (eds.), RoboCup 2014: Robot World Cup XVIII [papers from the 18th Annual RoboCup International Symposium, Jo˜ao Pessoa, Brazil, July 15, volume 8992 of Lecture Notes in Computer Science, 171–182. Springer. doi: 10.1007/978-3-319-18615-3 14.
• Lewis, F.L., Zhang, H., Hengster-Movric, K., and Das, A. (2013). Cooperative control of multi-agent systems: optimal and adaptive design approaches. Springer Science & Business Media.
• Miskowicz, M. (2015). Event-Based Control and Signal Processing. CRC Press.
• Noussaiba, M. and Rahal, R. (2017). State of the art: Vanets applications and their rfid-based systems. In 2017 4th International Conference on Control, Decision and Information Technologies (CoDIT), 0516–0520. IEEE.
• Olfati-Saber, R. (2002). Global configuration stabilization for the vtol aircraft with strong input coupling. IEEE Transactions on Automatic Control, 47(11), 1949–1952. doi:10.1109/TAC.2002.804457.
• Olfati-Saber, R. (2006). Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Transactions on Automatic Control, 51, 401–420. doi:10.1109/TAC. 2005.864190.
• Pawitan, G.A.H., Mutijarsa, K., and Adiprawita, W. (2016). Three-wheeled omnidirectional robot controller implementation. In 2016 International Conference on Information Technology Systems and Innovation (ICITSI), 1–4. IEEE.
• Sánchez-Santana, J., Guerrero-Castellanos, J., Villarreal Cervantes, M., and Ramírez-Martínez, S. (2018). Control distribuido y disparado por eventos para la formación de robots móviles tipo (3, 0). In Congreso Nacional de Control Automático, volumen 2017.
• Shneier, M. and Bostelman, R. (2015). Literature review of mobile robots for manufacturing. doi:10.6028/nist. ir.8022.
• Ullrich, G. (2015). Automated guided vehicle systems.