scholarly journals Smooth Trajectory Planning for Autonomous Leader-Follower Robots

10.29007/n6kt ◽  
2019 ◽  
Author(s):  
Ka Cheok ◽  
Kiran Iyengar ◽  
Sami Oweis
Keyword(s):  
Path Planning ◽  
Control Synthesis ◽  
Autonomous Guidance ◽  
Smooth Path ◽  
Vehicle Platooning ◽  
Key Factor ◽  
Lyapunov Stability Criterion ◽  
Leader Following ◽  
Robotic Vehicle ◽  
Dynamical Control

Path planning is a key factor that determines how well a robotic vehicle performs in executing automated formations and maneuvers as in multi-vehicle platooning and self- organizing leader following with safe and graceful movements. Many types of path- planning schemes have been employed in the autonomous robotics and driving systems. In this paper, we will focus on the application of a smooth path-planning (SPP) algorithm that produces simple-to-implement robotic maneuvers. The algorithm is derived from using a well-established Lyapunov stability criterion and a clever dynamical control synthesis. We show that the SPP can be adapted to many autonomous guidance scenarios. Simulations show that the SPP resulted in autonomous behaviors similar to that parallel those of human or animal actions. The paper presents results using Matlab simulations as well as Gazebo animation. The results will provide a foundation for an implementation of SPP on actual robotic vehicles.

A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture

2022 ◽  
pp. 1-20
Author(s):  
Amin Basiri ◽  
Valerio Mariani ◽  
Giuseppe Silano ◽  
Muhammad Aatif ◽  
Luigi Iannelli ◽  
...  
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Flight Control ◽  
Precision Agriculture ◽  
Navigation Systems ◽  
Agricultural Crops ◽  
Cluttered Environments ◽  
Main Motivation ◽  
Autonomous Guidance ◽  
Planning Problems

Abstract Multi-rotor Unmanned Aerial Vehicles (UAVs), although originally designed and developed for defence and military purposes, in the last ten years have gained momentum, especially for civilian applications, such as search and rescue, surveying and mapping, and agricultural crops and monitoring. Thanks to their hovering and Vertical Take-Off and Landing (VTOL) capabilities and the capacity to carry out tasks with complete autonomy, they are now a standard platform for both research and industrial uses. However, while the flight control architecture is well established in the literature, there are still many challenges in designing autonomous guidance and navigation systems to make the UAV able to work in constrained and cluttered environments or also indoors. Therefore, the main motivation of this work is to provide a comprehensive and exhaustive literature review on the numerous methods and approaches to address path-planning problems for multi-rotor UAVs. In particular, the inclusion of a review of the related research in the context of Precision Agriculture (PA) provides a unified and accessible presentation for researchers who are initiating their endeavours in this subject.

A Modified QPSO for Robotic Vehicle Path Planning

2018 ◽  
Author(s):  
Pedro B. Fernandes ◽  
Roberto C. Limao De Oliveira ◽  
Joao Viana Fonseca Neto
Keyword(s):  
Path Planning ◽  
Robotic Vehicle ◽  
Vehicle Path

Leader-Following Consensus Control of General Linear Multi-Agent Systems With Diverse Time-Varying Input Delays

2017 ◽  
Vol 140 (6) ◽  
Author(s):  
Chengzhi Yuan
Keyword(s):  
Single Agent ◽  
General Linear ◽  
Control Synthesis ◽  
Time Varying ◽  
Multi Agent Systems ◽  
Consensus Control ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent ◽  
Input Delays

This paper addresses the problem of leader-following consensus control of general linear multi-agent systems (MASs) with diverse time-varying input delays under the integral quadratic constraint (IQC) framework. A novel exact-memory distributed output-feedback delay controller structure is proposed, which utilizes not only relative estimation state information from neighboring agents but also local real-time information of time delays and the associated dynamic IQC-induced states from the agent itself for feedback control. As a result, the distributed consensus problem can be decomposed into H∞ stabilization subproblems for a set of independent linear fractional transformation (LFT) systems, whose dimensions are equal to that of a single agent plant plus the associated local IQC dynamics. New delay control synthesis conditions for each subproblem are fully characterized as linear matrix inequalities (LMIs). A numerical example is used to demonstrate the proposed approach.

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