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Updated: Jul 30, 2025
11:53
The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
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Navigation of a compartmentalized robot system.
Bibhya Sharma1, Riteshni D Karan1, Sandeep A Kumar1
1School of Information Technology, Engineering, Mathematics and Physics, The University of the South Pacific, Fiji.
Heliyon
|May 14, 2023
Summary
This study introduces a novel method for multi-robot coordination using compartmentalized robots. It ensures rigid formation and collision avoidance through analytical minimum distance computation and Lyapunov-based control.
Area of Science:
- Robotics
- Control Theory
- Artificial Intelligence
Background:
- Advancements in single-robot control have shifted focus to multi-robot coordination.
- Coordinating multiple robots presents complex challenges in motion planning and control.
Purpose of the Study:
- To develop a novel approach for multi-robot motion planning and control (MPC) using compartmentalized robots.
- To ensure efficient, collision-free, rigid formation movement in multi-robot systems.
Main Methods:
- An efficient variant of globally rigid formation for car-like units moving in parallel.
- Analytical computation of minimum distance between rectangular regions and obstacles.
- Design of autonomous controllers using a Lyapunov-based control scheme.
Main Results:
- Demonstrated strict maintenance of rigid formation in simulations.
- Achieved efficient collision and obstacle avoidance for the compartmentalized robot system.
- Validated the efficacy of the proposed Lyapunov-based controllers in complex scenarios.
Conclusions:
- The proposed method enables robust multi-robot coordination with rigid formation and collision avoidance.
- Opens avenues for research in swarm robotics, dynamic unit splitting/rejoining, and rotational leadership.
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