Optimal Motion Control for Multi-Robot System by Multilayer Network Operator

We are addressing the problem of designing an autonomous feedback control for a group of robots moving in the environment with obstacles and avoiding collisions. A robotic team with full information is considered. We propose a two-stage numerical approach for control synthesis. On the first stage a stabilizing control about some point in the state space is produced. On the second stage optimal trajectories are constructed as a set of stabilizing points. We apply a multilayer network operator for numerical search of control functions. Computational experiment is performed for control synthesis for a group of three mobile robots parking in the constrained space. © 2016 IEEE.

Authors
Publisher
IEEE
Language
English
Pages
2164-2169
Status
Published
Year
2016
Organizations
  • 1 Peoples Friendship University of Russia
Keywords
optimal trajectories; control synthesis; autonomous vehicle navigation; collision avoidance; multiple robots
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