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Operation of the Collaborative Composite Manufacturing CCM System

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Observer-Based Time-Variant Spacing Policy for a Platoon of Non-Holonomic Mobile Robots.

Martín Velasco-Villa¹, Raúl Dalí Cruz-Morales², Alejandro Rodriguez-Angeles¹

¹CINVESTAV-IPN Electrical Engineering Department, Mechatronics Section, Av. I.P.N. No. 2508, Col. San Pedro Zacatenco, Mexico City 07360, Mexico.

Sensors (Basel, Switzerland)

|June 2, 2021

Summary

This study introduces a navigation strategy for mobile robot platoons, ensuring safe spacing with a time-varying policy. The method guarantees robots maintain a secure distance, preventing collisions during formation movement.

Keywords:

input-delay observer non-holonomic mobile robots platoon formation time-varying spacing policy

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Area of Science:

Robotics
Control Systems
Artificial Intelligence

Background:

Coordinated control of multi-robot systems is crucial for tasks like transportation and exploration.
Maintaining safe inter-robot distances in dynamic environments presents significant challenges.

Purpose of the Study:

To develop a robust navigation strategy for non-holonomic mobile robot platoons.
To ensure safe trailing distances and collision avoidance using a time-varying spacing policy.
To enable robots to follow a leader's trajectory with time delays.

Main Methods:

A novel navigation strategy for robot platoons with a time-varying spacing policy.
An observer-based approach to estimate leader robot states with time delays.
Lyapunov theory for stability analysis and proof of asymptotic convergence.

Main Results:

The proposed strategy ensures safe trailing distances between successive robots at any speed.
The observer provides robust trajectory estimation, handling noisy or missing data.
Asymptotic convergence of posture tracking between follower and leader robots is proven.

Conclusions:

The developed navigation strategy is effective for controlling mobile robot platoons.
The system demonstrates robustness against disturbances and data imperfections.
Validated through numerical simulations and real-time experiments, confirming practical applicability.