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Distance and Angle Formation Scheme for Collision Avoidance of Differential-drive Mobile Robots

dc.contributor.authorRamirez-Neria M
dc.contributor.authorGonzalez-Sierra J
dc.contributor.authorRamirez-Juarez R
dc.contributor.authorTejada J.C
dc.contributor.authorToro-Ossaba A
dc.contributor.authorNoguera A
dc.contributor.authorRua S.
dc.date.accessioned2024-07-31T21:07:14Z
dc.date.available2024-07-31T21:07:14Z
dc.date.created2023
dc.identifier.isbn9798350324723
dc.identifier.urihttp://hdl.handle.net/11407/8513
dc.descriptionThis paper proposes combining displacement-based and distance-based approaches to design a strategy for regulation control with collision avoidance for two differential-drive mobile robots. For the attractive control law, the displacement-based method is used. By employing a coordinates change, the front point of the robot is considered to avoid singularities in the control strategy. For the repulsive control law, the displacement-based technique is considered. In this sense, the distance and angle formation dynamics between robots are determined by applying the same coordinates change. Based on those mentioned above, the control strategy consists of two parts: the former, with negative feedback, which is capable to drive the robots to their desired position, while the latter, with positive feedback, which allows to create an unstable focus that produces a counterclockwise angular movement and makes that the robots move away from each other, avoiding collisions between them. Experimental results show the effectiveness of the proposed control law. © 2023 IEEE.
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics engineers Inc.
dc.relation.isversionofhttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85180792892&doi=10.1109%2fCCAC58200.2023.10333810&partnerID=40&md5=f414783d4dbbe4897d217dab8becf882
dc.sourceProceedings of the 2023 IEEE 6th Colombian Conference on Automatic Control, CCAC 2023
dc.sourceProc. IEEE Colomb. Conf. Autom. Control, CCAC
dc.sourceScopus
dc.subjectCollision avoidanceeng
dc.subjectDifferential-drive mobile robotseng
dc.subjectDistance-based approacheng
dc.titleDistance and Angle Formation Scheme for Collision Avoidance of Differential-drive Mobile Robotseng
dc.typeconference paper
dc.rights.accessrightsinfo:eu-repo/semantics/restrictedAccess
dc.publisher.programIngeniería de Telecomunicacionesspa
dc.type.spaDocumento de conferencia
dc.identifier.doi10.1109/CCAC58200.2023.10333810
dc.publisher.facultyFacultad de Ingenieríasspa
dc.affiliationRamirez-Neria, M., Universidad Iberoamericana Ciudad de Mexico, Institute of Applied Research and Technology, Ciudad de Mexico, Mexico
dc.affiliationGonzalez-Sierra, J., Instituto Politecnico Nacional, Unidad Profesional Interdisciplinaria de Ingenieria Campus Hidalgo, San Agustin Tlaxiaca, Hidalgo, Mexico
dc.affiliationRamirez-Juarez, R., Universidad Iberoamericana Ciudad de Mexico, Institute of Applied Research and Technology, Ciudad de Mexico, Mexico
dc.affiliationTejada, J.C., Universidad EIA, Computational Intelligence and Automation Research Group (GIICA), Envigado, Colombia
dc.affiliationToro-Ossaba, A., Universidad EIA, Computational Intelligence and Automation Research Group (GIICA), Envigado, Colombia
dc.affiliationNoguera, A., Universidad Nacional Abierta y A Distancia, ECBTI, Yopal, Colombia
dc.affiliationRua, S., Universidad de Medellin, Electronics and Telecommunications engineering Department, Medellin, Colombia
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dc.type.versioninfo:eu-repo/semantics/publishedVersion
dc.identifier.reponamereponame:Repositorio Institucional Universidad de Medellín
dc.identifier.repourlrepourl:https://repository.udem.edu.co/
dc.identifier.instnameinstname:Universidad de Medellín
dc.contributor.event6th IEEE Colombian Conference on Automatic Control, CCAC 2023


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