Motion coordination and control in systems of nonholonomic autonomous vehicles [Elektronische Ressource] / Martin Hess

© Martin Hess ([e-mail])

Sujets

• Informatik

Informations

• Publié par: julius-maximilians-universitat_wurzburg
• Publié le: 01 janvier 2010
• Nombre de lectures: 34
• Langue: English
• Poids de l'ouvrage: 7 Mo

Extrait

Institut für Informatik
Lehrstuhl für Robotik und Telematik
Prof. Dr. K. Schilling
Würzburger Forschungsberichte
in Robotik und Telematik
Uni Wuerzburg Research Notes
in Robotics and Telematics
Martin Hess
Motion coordination and
control in systems of non-
holonomic autonomous
vehicles
Band 2Wurzburger Forschungsberichte
in Robotik und Telematik
Uni Wuerzburg Research Notes
in Robotics and Telematics
Herausgeber
Prof. Dr. K. Schilling
Universit at Wurzburg
Institut fur Informatik
Lehrstuhl fur VII: Robotik und Telematik
Am Hubland
D-97074 Wurzburg
Tel.: [phone]
Fax.: [phone]
email: [e-mail]
ISSN (Internet): 1868-7474
ISSN (Print): 1868-7466Motion coordination and control in
systems of nonholonomic
autonomous vehicles
Dissertation zur Erlangung des
naturwissenschaftlichen Doktorgrades
der Julius{Maximilians{Universit at Wurzburg
vorgelegt von
Martin Hess
aus
Frankfurt am Main
Wurzburg, Juli 2009Eingereicht am: 15.07.2009
bei der Fakult at fur Mathematik und Informatik
1. Gutachter: Prof. Dr. Klaus Schilling
2. Gutachter: Prof. Dr. Lars Grune
3. Gutachter: Prof. Dr. Dusan M. Stipanovic
Tag der mundlic hen Prufung: 19.02.2010Acknowledgements
First of all I would like to thank my doctoral supervisor Prof. Dr. Klaus Schilling for giving
me the opportunity to work in this interesting eld and for providing me with the necessary
guidance into scienti c research. Especially I appreciate the con dence he put in me during
my time as a collaborator at his chair. I would also like to thank Prof. Dr. Lars Grun e
and Prof. Dr. Dusan Stipanovic who both acted as reviewers of this thesis and provided me
with helpful comments and discussions. I am also very grateful for the chance to stay three
month at Prof. Stipanovic’s department at the University of Illinois at Urbana-Champaign
(UIUC). Furthermore I want to express my gratitude to Prof. Dr. Jurgen Albert and Prof.
Dr. Dietmar Seipel for being available as examiners for my disputation, as well as to Prof.
Dr. Hakan Kayal for taking the minutes.
For a little more than three years my research activities have been supported by the inter-
national doctorate program \Identi cation, Optimization and Control with Applications in
Modern Technologies" within the Elite Network of Bavaria. Among other things this privilege
made it possible for me to take part in international conferences and to stay in the United
States as a visiting scholar for three month. I am very proud that I could have been a part of
this program and I would like to thank the coordinator Prof. Dr. Gun ter Leugering and the
remaining professors of the program for creating an inspiring atmosphere within the whole
group. Further, I am obliged to Dr. Erik Kropat for his competent handling of all the ad-
ministrative tasks. For giving me insights into other interesting topics besides mobile robots
and for their companionship my appreciation also goes to the other PhD-students of the IDP,
namely Nils Altmuller, Michael Blume, Izabella Ferenczi, Tobias Gradl, Falk Hante, Anna
von Heusinger, Indra Kurniawan, Marcus von Lossow, Thorsten Spickenreuther, Alexander
Thekale, Slobodan Veljovic, and Stefan Wendl. Special thanks go to Martin Saska with whom
I shared the o ce and worked in close cooperation for more than three years.
At the chair of Computer Science VII: Robotics and Telematics I enjoyed very much to
work in a team of extraordinary people. Therefore I would like to express my gratitude to all
my former colleagues and, especially, to Daniel Eck, Marco Schmidt, Christian Herrmann,
Markus Sauer, Florian Zeiger, Dr. Frauke Driewer, Dr. Lei Ma, Dr. Peter Hokayem, L aszl o
Lemmer, Marcus Krau , Florian Leutert, Robin He , Lothar Stolz, Maximilian Drentschew,
vZhihao Xu, Zhongyang Wu, Kaipeng Sun, Rajesh Shankar Priya, Lakshminarasimhan Srini-
vasan, Dieter Ziegler, Heidi Frankenberger, Edith Reuter, and Heidi Schaber. Besides the
pleasant collaborations at work I also enjoyed a lot the private activities o the job. Further
I want to thank my colleagues from the UIUC for having made me feel so welcome, espe-
cially Juan Mej a who supported me in academic as well as in everyday matters. For their
companionship and friendship I also thank my C-U roommates Norman Simburger and Jia
Yaodong.
The motivation and the support I received from my parents and from my sister encouraged
me many times during the creation of this work, for which I owe them a large debt of gratitude.
Moreover, I am deeply grateful for the support of my love Maike. She displayed a lot of
patience while she took her time to listen to my scienti c problems and to discuss about
mathematical questions. Also, she regularly reminded me that there are other important
things besides the scienti c work as well. For this reason I want to dedicate this thesis to
her.
viContents
1 Introduction 1
1.1 Contribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Stability of nonlinear dynamical systems 9
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Dynamical systems with discontinuous right-hand side . . . . . . . . . . . . . 10
2.3 Partial stability of continuous systems . . . . . . . . . . . . . . . . . . . . . . 14
2.4 Partial stability of discontinuous systems . . . . . . . . . . . . . . . . . . . . . 15
3 Modeling and control of wheeled mobile robots 17
3.1 Di erential models for mobile robots . . . . . . . . . . . . . . . . . . 17
3.2 Position stabilization of the car-like robot via discontinuous feedback . . . . . 22
3.2.1 Free steering angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2.2 Bounded steering angle . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4 Motion planning for formations of nonholonomic mobile robots 31
4.1 Problem statement and related work . . . . . . . . . . . . . . . . . . . . . . . 31
4.2 Trajectory generation with piecewise constant reference curvature . . . . . . . 35
4.3 Enhanced trajectory generation . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.3.1 Time varying reference speed . . . . . . . . . . . . . . . . . . . . . . . 42
4.3.2 Time varying reference curvature . . . . . . . . . . . . . . . . . . . . . 43
4.3.3 Adequate adjustment of relative position coordinates . . . . . . . . . . 45
4.4 Simulation results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.4.1 Scenario 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.4.2 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.5 Summary and discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5 Air eld snow shoveling utilizing multi-vehicle formations 59
5.1 Problem statement and related work . . . . . . . . . . . . . . . . . . . . . . . 59
viiContents
5.2 System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
5.3 Motion planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
5.4 Adapted trajectory tracking control . . . . . . . . . . . . . . . . . . . . . . . 66
5.5 Implementation and simulation results . . . . . . . . . . . . . . . . . . . . . . 69
5.6 Hardware experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
5.7 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
6 Rendezvous for groups of car-like mobile robots 79
6.1 Graph-based representation of the interaction topology in multi-agent systems 79
6.2 Problem statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
6.3 Related work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
6.3.1 Consensus in networked multi-agent systems . . . . . . . . . . . . . . 81
6.3.2 Rendezvous for groups of mobile robots . . . . . . . . . . . . . . . . . 85
6.4 Rendezvous with Free Steering Angle . . . . . . . . . . . . . . . . . . . . . . . 87
6.5ous with Bounded Steering Angle . . . . . . . . . . . . . . . . . . . . 90
6.5.1 The closed-loop feedback control law . . . . . . . . . . . . . . . . . . . 91
6.5.2 Introducing orientation adjustment maneuvers . . . . . . . . . . . . . 94
6.5.3 Distributed termination of the rendezvous process . . . . . . . . . . . 100
6.6 Simulation results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
6.6.1 Scenario 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
6.6.2 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6.7 Hardware experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
6.7.1 Scenario 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
6.7.2 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
6.8 Extension to concurrent maneuvers among neighboring vehicles . . . . . . . . 122
6.8.1 The extended approach . . . . . . . . . . . . . . . . . . . . . . . . . . 123
6.8.2 Performance evaluation of the two rendezvous systems . . . . . . . . . 125
6.9 Summary and discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
7 Conclusion and future w