A Practical Coordinated Trajectory Tracking for A Group of Mixed Wheeled Mobile Robots with Communication Delays
Abstract: Coordination between
a specific mobile robot type has been widely investigated, e.g coordination between
unicycles. To extend the applicability of the system, a coordinated trajectory
tracking of mixed type of mobile robots is considered. We prove that if a
certain type of wheeled mobile robot is able to individually track its own
reference, then coordination in tracking with other type of robots can be
achieved simply by sharing individual tracking errors. Using two types of
wheeled mobile robots, namely unicycle types (a nonholonomic mobile robot) and
omni wheels type (a holonomic mobile robot), a coordinated control algorithm
can achieve a global asymptotically stable condition of the error dynamics of
the systems. Under bidirectional communication between robots as a constraint,
the group is able to maintain individual tracking while coordinating the
movements with other robots regardless occurring perturbations in the system
and delays in communication channels. Simulation results suggest that
information sharingbetween the robots increase the robustness in coordinating
individual trajectories. Results also show that delays cause drop in
performance similar to the case of no information sharing.
Keywords: coordinated
trajectory tracking, unicycles, omni wheels robots, Lyapunov function, time
delays
Author: Sisdarmanto Adinandra,
Dwi Ana Ratnawati
Journal Code: jptkomputergg160247
