Conference Paper

Adaptive formation control of a fleet of mobile robots: Application to autonomous field operations

Cemagref, Aubière, France
DOI: 10.1109/ROBOT.2010.5509136 Conference: Robotics and Automation (ICRA), 2010 IEEE International Conference on
Source: IEEE Xplore


The necessity of decreasing the environmental impact of agricultural activities, while preserving in the same time the level of production to satisfy the growing population demand, requires to investigate new production tools. Mobile robotic can constitute a promising solution, since autonomous devices may permit to increase production level, while reducing pollution thanks to a high accuracy. In this paper, the use of several mobile robots for field treatment is investigated. It is here considered that they can exchange data through wireless communication, and a formation control law, accurate despite typical off-road conditions (low grip, terrain irregularities, etc), is designed relying on nonlinear observer-based adaptive control. The algorithm proposed in this paper is tested through advanced simulations in order to study separately its capabilities, as well as experimentally validated.

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    • "Convergence of y i to y d i can be achieved by imposing the control law (2) detailed in [19] "

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    ABSTRACT: Mobile robotics constitutes a promising way to reduce the environmental impact of agricultural activities while preserving the level of production to satisfy the growing population demand. In previous work, a formation control law, accurate despite typical off-road conditions (low grip, terrain irregularities, etc), based on a nonlinear observer-based adaptive control has been presented. Satisfactory advanced results have been reported in lateral servoing but inaccuracies in longitudinal regulation have been noticed. In this paper a new predictive approach dedicated to both longitudinal and lateral servoing is proposed. We consider mobile robots made of a single body accounting for bad grip conditions thanks to an observer based approach. After presenting the modelling of the formation and the control law use to maintain longitudinal and lateral deviations with respect to the reference trajectory, we introduce the predictive approach on velocity. Full-scale experiments demonstrate the performance of the proposed approach.
    Robotics and Automation (ICRA), 2013 IEEE International Conference on; 01/2013
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    ABSTRACT: Off-road mobile robotics may have important interest in many fields of application such as agriculture or surveillance. In this paper, the control of a fleet of wheeled mobile robots, equipped with RTK-GPS sensors and communicating through WiFi, is investigated. The focus is particularly set on the control of a formation of several robots with respect to a reference trajectory, previously learned or computed off-line. Non-linear exact transformations permit to achieve a laterally and longitudinally decoupled model; from which the control of steering angle and velocity are derived separately in order to ensure the desired formation shape. Since the control of lateral distance to the reference trajectory is based on other works, only the longitudinal control is detailed in this paper. It is based on an adaptive and predictive control algorithm, in order to account for both sliding and actuator delays. The experimental results demonstrate the capabilities of the proposed approach.
    Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on; 11/2013