Simultaneous Position and Orientation Planning of Nonholonomic Multirobot Systems: A Dynamic Vector Field Approach

• 成果类型: Article
• 署名作者: He, Xiaodong; Li, Zhongkui
• 署名单位: University of Science & Technology Beijing; Peking University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2024.3406475
• 发表日期: 2024
• 页码: 8354-8369
• 关键词: VECTORS; robots; PLANNING; Collision avoidance; Mobile robots; optimization; Transmission line matrix methods; Dynamic vector field (DVF); motion planning; multirobot system; nonholonomic mobile robot

摘要

This article considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common research works, which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid body and introduce both of position and orientation constraints for the robot's final states. In other words, the robot should not only reach the specified position, but also point to the desired orientation simultaneously. The challenge of this problem lies in the underactuation of full-state motion planning, since three states need to be planned by mere two control inputs. To this end, we propose a dynamic vector field (DVF) based on the rigid body modeling. Specifically, the dynamics of the robot orientation is brought into the vector field, implying that the vector field is not static on the 2-D plane anymore, but a dynamic one varying with the attitude angle. Hence, each robot can move along the integral curve of the DVF to arrive at the desired position, and in the meantime, the attitude angle can converge to the specified value following the orientation dynamics. Subsequently, by designing a circular vector field under the framework of the DVF, we further study the obstacle avoidance and multirobot collision avoidance. Finally, numerical simulation and hardware experiment are provided to verify the effectiveness.