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arXiv · 2403.08942

Collision-Free Platooning of Mobile Robots through a Set-Theoretic Predictive Control Approach

Suryaprakash Rajkumar·Cristian Tiriolo·Walter Lucia
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Abstract

This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while followers track the leader's pose with an inter-agent delay. First, the leader and the follower kinematic models are feedback linearized and the platoon's error dynamics and input constraints characterized. Then, a set-theoretic model predictive control strategy is proposed to address the platooning trajectory tracking control problem. An ad-hoc collision avoidance policy is also proposed to guarantee collision avoidance amongst the agents. Finally, the effectiveness of the proposed control architecture is validated through experiments performed on a formation of Khepera IV differential drive robots

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Suryaprakash Rajkumar, Cristian Tiriolo, Walter Lucia. 2024-03-13. Collision-Free Platooning of Mobile Robots through a Set-Theoretic Predictive Control Approach. https://arxiv.org/abs/2403.08942

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